This repository contains the flight controller, and the fast finite-time stable extended state observer (FFTS-ESO) for a quadrotor subjected to complex disturbances. The implementation is based on the open-source autopilot PX4, v1.13.2. The FFTS-ESO is implemented onto the module mc_pos_control and mc_rate_control for translational and rotational motions, respectively.
TBD
This installation guide was tested with Ubuntu 20.04 Clone the repository:
git clone -b Geometric-FFTS-ESO http://github/nswang1994/GeometricPX4
Install the PX4 toolchain:
bash ./GeometricPX4/Tools/setup/ubuntu.sh
The test can be conducted in the SITL simulation by excuting the following command:
make px4_sitl gazebo
- The default parameters in the implementation is designed for 3DR-IRIS in Gazebo simulation.
- The flight experiment is conducted based on Holybro X500. TBD
TBD