Hi, I am trying to understand what happens after ‘mc_att_control_main.cpp’ is executed to set pwm values for the motors. I see that controller output values are published PX4/PX4-Autopilot/blob/7f8f6c38792272ece979a1a4a50721a5efb8ea72/src/modules/mc_att_control/mc_att_control_main.cpp#L974 …

As far as i know idle_speed is set in the mixer file. See https://dev.px4.io/en/concept/mixing.html → Multirotor Mixer → deadband For example the quad_x mixer file: PX4/PX4-Autopilot/blob/3ecb07f5db426b575d3b8f0beec97d9fba9d4e3c/ROMFS/px4fmu_common/mixers/quad_x.main.mix#L1 …

[image] NestorSANTOS: _actuators Where do we see the transition from _actuators to outputs?

Is there an explicit statement somewhere in the codebase that says: outputs = _actuators?

Hi, Jose, the process from _actuators to the final PWM outputs is very complicated and not to easy to understand. So it is not easy to describe it as a simple statements for that. To understand it several hours may be needed or several days or months. Here is some information for the journey: The…

Thanks bigbellmercy! The logic paths you have described are basically what I have tracked down. But I am seeking a in-depth working level understanding. this code base is used to control flying machines, and it is important (and a very responsible thing to do so) for all designers to understand its …

Welcome Jose, it is great that you developed it on your own!

What I was getting at is that the detailed logics should not be very hard to parse and understand. Do you know in detail how this command to pwm works? To the extent that you are able to simulate it in Matlab for the purpose of algorithm evaluation and Algorithm-in-the-Loop 6DOF analysis?

This was a highly amusing thread. I’ve bookmarked it for future reference.

I am glad you found it amusing larry_c, any insight into this?

I think the phrase “The code always reveals the truth” may apply here.

How are pwm values set after controllers outputs are calculated for quadrotors?

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josetherocketman April 28, 2018, 5:08pm 3

Where do we see the transition from _actuators to outputs?

Position trajectory to MC position control

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How are pwm values set after controllers outputs are calculated for quadrotors?

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