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Actually finish the flight controller #52

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yameatmeyourdead opened this issue Feb 15, 2025 · 0 comments · May be fixed by #55
Open

Actually finish the flight controller #52

yameatmeyourdead opened this issue Feb 15, 2025 · 0 comments · May be fixed by #55
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@Hermanoid @yameatmeyourdead
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enhancement New feature or request help wanted Extra attention is needed

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@yameatmeyourdead
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Cascaded PID controller
Steps:

  • Position PID to calculate desired velocity.
  • Velocity PID to calculate desired force.
  • V_desired = PID(P_desired-P_measured)
  • F_des = PID(V_desired-V_measured)
  • G*T=F_des
    [6x8] [8x1]=[6x1]
    G is full-rank:
  • T = G^+ F_des

Use published T200 data to map T -> U where U is pwm required for the desired thrust.
Might want a QP optimizer here for T?
min T (G*T - F)^2 s.t. T_min <= T <= T_max
@Hermanoid thoughts?
@yameatmeyourdead yameatmeyourdead added enhancement New feature or request help wanted Extra attention is needed labels Feb 15, 2025
@yameatmeyourdead yameatmeyourdead linked a pull request Feb 22, 2025 that will close this issue
Draft
@yameatmeyourdead yameatmeyourdead linked a pull request Feb 22, 2025 that will close this issue
Update flight controller #55
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@Hermanoid Hermanoid

@yameatmeyourdead yameatmeyourdead

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enhancement New feature or request help wanted Extra attention is needed
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Update flight controller CSMRobotics/MATE
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@Hermanoid @yameatmeyourdead