Closed NicoNorena closed 3 years ago
I am trying to test out the Position Controller by calling the function run() in the Position_Controller class. I was following the implementation based on the function velocity_control https://github.com/uzh-rpg/rpg_quadrotor_control/blob/9d867c01b17509f5d97bf0ad85145dde9eecceb9/control/autopilot/include/autopilot/autopilot_inl.h#L986
velocity_control
I am seeing the collective_thrust in terms m/s^2 ( I think ) , Why is it refer as normalized in code? How can I compute the minimum and max thrust range in order to normalized the collective thrust from 0 to 1?
thank you
I am trying to test out the Position Controller by calling the function run() in the Position_Controller class. I was following the implementation based on the function
velocity_controlhttps://github.com/uzh-rpg/rpg_quadrotor_control/blob/9d867c01b17509f5d97bf0ad85145dde9eecceb9/control/autopilot/include/autopilot/autopilot_inl.h#L986I am seeing the collective_thrust in terms m/s^2 ( I think ) , Why is it refer as normalized in code? How can I compute the minimum and max thrust range in order to normalized the collective thrust from 0 to 1?
thank you