We can improve vehicle response in control regions where we desire little force (<10 N) by making Azi aware of the lower constraints on thrust.
Current schema:
u < u_max = 100
u > u_min = -70
New schema:
u < u_max = 100
u > u_min = -70
abs(u) > 10
if norm(wrench.xyz == 0): u = 0
With this, if you command a force less than 10 N, what the thrusters typically bottom out at, Azi will angle the thrusters further out to allow smaller forces, instead of commanding un-achievable small thrusts.
jpanikulam
commented
9 years ago
We can improve vehicle response in control regions where we desire little force (<10 N) by making Azi aware of the lower constraints on thrust.
Current schema:
New schema:
With this, if you command a force less than 10 N, what the thrusters typically bottom out at, Azi will angle the thrusters further out to allow smaller forces, instead of commanding un-achievable small thrusts.