momentum-based-flight-sim-gazebo

Momentum-based flight controller for Gazebo simulations

This controller is maintained for the robots:

• iRonCub-Mk1_1_Gazebo
• iRonCub-Mk1_Gazebo

Simulation type:

Without jet dynamics and estimated thrusts

Jets dynamic model is just the numerical integration of the desired thrusts rate of changes. The controller uses the thrusts from numerical integration.

With jet dynamics

Jet dynamic model is designed based on experiments with the real turbines. The thrust rate of change is stabilized towards the reference values by means of a low-level jets control that sets desired throttle values. The controller uses the thrusts from Gazebo.

With jet dynamics and estimated thrusts

Jet dynamic model is designed based on experiments with the real turbines. The thrust rate of change is stabilized towards the reference values by means of a low-level jets control that sets desired throttle values. The controller uses the estimated thrust from a EKF-based thrusts estimation algorithm.

Available simulations:

Robot: iRonCub-Mk1_Gazebo

SIMULATION TYPE	TAKE OFF	HOVERING	SLOW FLIGHT MANEUVERS	FAST FLIGHT MANEUVERS	LANDING
Without jet dynamics and estimated thrusts	YES	YES	YES	YES	YES
With jet dynamics	YES	YES	YES	NO	YES
With jet dynamics and estimated thrusts	NO	NO	NO	NO	NO

Robot: iRonCub-Mk1_1_Gazebo

SIMULATION TYPE	TAKE OFF	HOVERING	SLOW FLIGHT MANEUVERS	FAST FLIGHT MANEUVERS	LANDING
Without jet dynamics and estimated thrusts	YES	YES	YES	YES	YES
With jet dynamics	YES	YES	YES	NO	NO
With jet dynamics and estimated thrusts	NO	NO	NO	NO	NO