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.
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.
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.