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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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Position Controller doing unneeded conversion #66

Closed foehnx closed 6 years ago

foehnx commented 6 years ago

@mfaessle can you comment what this lines do: (116-125) https://github.com/uzh-rpg/rpg_quadrotor_control/blob/c93155ec63f91553271665cec83079a9e27a5f70/control/position_controller/src/position_controller.cpp#L116-L125

looks to me like they do nothing at all!

mfaessle commented 6 years ago

They compute the reference orientation from a reference state without considering rotor drag. This reference orientation is not used later on, it is just computed for completeness, i.e. for computing the entire reference input.

EDIT: Sorry I didn't get what you meant apparently, but you are right those computations seem useless and should be removed. They are probably an artefact of some restructuring.

mfaessle commented 6 years ago

Addressed in #68