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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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Added updated fields for go to pose #63

Closed kohlerj closed 6 years ago

kohlerj commented 6 years ago

addresses #62

kohlerj commented 6 years ago

Still WIP

kohlerj commented 6 years ago

@mfaessle : somehow when I start there is an offset btw the reference shown in the reference table and the go to fields that I update. This does not happen afterwards when i move around. Any idea why? Is that because you move the point further than it should during the start?

mfaessle commented 6 years ago

This is due to the breaking state. Breaking is implemented by keeping the current reference state and wait until the velocity is close to zero and then switch to hover (including an update of the reference state). However since this update of the reference step and the switch to the autopilot's hover state happens simultaneously and in your code you only update the gui if the autopilot is not in hover, the last reference state update is not captured in your code anymore. Maybe you can implement something that detects when the state switches to hover and then do one more update...

kohlerj commented 6 years ago

So I solved it by only updating if we switch from a not-hovering state to hover state. The only issue is that is it not updated when landing but this is not an issue

kohlerj commented 6 years ago

@mfaessle Can we merge this? @rpg-jenkins test this please