Trapezoidal velocity profile for start maneuver

uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group

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Trapezoidal velocity profile for start maneuver #64

Closed mfaessle closed 6 years ago

mfaessle commented 6 years ago

The MPC controller needs a non zero acceleration to start nicely but currently it is implemented in a hacky way. Ideally the start procedure would be a proper trapeziodal velocity profile.

foehnx commented 6 years ago

addressed in #60

mfaessle commented 6 years ago

The position is not the integral of the velocity yet ;) But seriously, this can be addressed if ever someone cares. Then we could also break the velocity down towards the start height.