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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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Problem with usage of Flightlib trained models #117

Open somsomers opened 6 months ago

somsomers commented 6 months ago

Hello.

Could you me out with model based control?

I tried to use trained model form included example, but the model outputs single motors thrusts and it is not obvious how to use those thrusts with rpg_quadrotor_control. The SBusBridge::generateSBusMessageFromControlCommand method does not support ROTOR_THRUSTSmode so it can't convert single rotors thrusts values to Roll/Pitch/Yaw/Throttle sbus command.

How to convert those values?