[image] In the position control and velocity control , i want to custom my own controller like sliding mode controller , instead of PID . :grin: I do some research but they all talk about mavros off-board , but they are all in simulation. And i think in other way ,it’s change the file /PX4-Auto…

[image] Huy_Quang: an’t find any document about this topic . That very help full , if you guys can share just your i ideal , or something relative . Hi, i’m trying to use a customized controller too, the problem is that i cannot handle the scaled control value used by PX4, how you scale your…

i dont understand , what you mean scale value . But if you want , that my custom controller in position loop * with sliding mode control I also test in real pihawk2 , and the results look a litter better than pid . *position loop = position control + velocity control in px4 Slidingmode-sim/Posit…

Thanks for answering me, I’ve taken a brief look at your code, so let me understand you have simplify replaced the position and velocity control block but you kept untouched the rate and attitude, so you are simply setting your thrust, not the moments required. My project is a bit different I’m try…

in the simulation and real , its almost 50hz (position loop) or dt = 0.02, in the altitude i dont know but i think at least not bigger than 0,02 , (i see every article say that 200hz or 250hz ) I understand, , you use feed back lineariztion for position control and HOSM for attitude. i do the sam…

I dont quite understand how the controller is implemented into the PX4 firmware. So to understand how your controller works, you model the translational dynamics and implement a SMC based controller that guarantees tracking where the control input to the translational dynamics are these virtual cont…

that true what you said. ALL! i have struggled when i start. they have a different in theory and the way PX4 implement. They not use Euler angle for the control . they use Quaternion . you can find in internet the formula math What I did that only the virtual control SMC to improve the tracking t…

and if look deep inside the code ControlMath.cpp you will see also. Keep patient, you will find that.

[image] Custom new position control Hi, I have a few questions about the position control. My goal is implement a new position control (Sliding mode control) instead of PID (P in position and PID velocity and acceleration) May be that not better than PID but i just try…

Yes I see they use quaternions as the setpoint for the angle controller. So you designed the virtual control inputs then those relations calculate the requirements for the PX4 with the non linear decoupling equations. I seen your question.pdf. Does U1 correspond to Fsp in that controller diagram? W…

Custom postion control

PX4 Autopilot

Huy_Quang October 31, 2021, 4:47pm 9

u can see that file pdf , that can have u , an overview

Topic		Replies	Views
Custom new position control	0	445	May 24, 2021
PX4: dynamic control need for a drone PX4 Autopilot	27	4442	January 19, 2025
Custom Position Control for trajectory tracking PX4 Autopilot	2	1252	January 12, 2025
Control loop architecture PX4 Autopilot	18	7902	March 5, 2020
Position and attitud controllers diagram PX4 Autopilot	38	15014	January 6, 2022

Custom postion control

Related topics