I want to implement a controller to my 3dr iris, I want to use the nested saturation controller, I was looking for different ways to implement it and I found two ways:
- Modify the files mc_att_control.cpp and mc_pos_control.cpp
- Use Simulink pixhawk support. (https://www.mathworks.com/hardware-support/pixhawk.html and https://calhoun.nps.edu/handle/10945/47258)
I’m interested in using the simulink option, but I’m getting problems uploading the simulink code to the pixhawk.
When I upload the simulink code to pixhak many parameters disappear in QGC.
I am using a system of six optitrack camaparas and I am sending the mocap data to the pixhawk using mavros and offboard mode.
one of the parameters that disappears is the lpe estimator and this parameter is necessary for the mocap data.
This are my questions:
Did someone use the simulink package and can guide me?
Is it recommended to use Simulink pixhawk support?
Greetings and thanks!