Hi, I have a few questions about the position control. My goal is to send a real-time reference trajectory from the companion computer to the position control. My trajectory consists of position, velocity, acceleration and jerk. My questions: Are velocity,acceleration and jerk used in the posit…

Ok thanks. But if I need to use a different controller I’ll implement mine: https://ieeexplore.ieee.org/document/7458128/ :slight_smile: Even though the works from Lee and Scaramuzza are very good. But now what would happen if I send the SET_POSITION_TARGET_LOCAL_NED?

@tuloski The project is intended to implement different controllers, so contributing to the repo will be also cool. As long as you don’t have position setpoints dynamically moving, the quad will follow the trajectory. The video below shows position setpoints sent to a quad at 100Hz using mavros. H…

[image] Jaeyoung-Lim: The video below shows position setpoints sent to a quad at 100Hz using mavros. However, this approach will fail when your trajectory is dynamic. It will fail because the controller is not able to handle it? What do you mean by dynamic? Aggressive? [image] Jaeyoung-Li…

@tuloski I mean by dynamic trajectories of having high velocity / accelrations. If you send a position setpoint, the position controller assumes that your target position is static. Once your target position starts to have relatively large accelerations, your position controller will not be able to…

@Jaeyoung-Lim Is it possible to implement geometric controller in mc_att_control_main.cpp? If it is impossible, can you tell me why we need seperate controller? Actually, I want to change the control algorithm of firmware from PID to geometric one.

@chmi0611 It is possible. However, if you are testing out controllers or in development, it is better to have it running OFFBOARD as you can always shut down the setpoints published from the flight controller and regain control of the vehicle.

You probably need to change mc_pos_control and mc_att_control, the flighttask (where the setpoint is coming) and probably other parts (I didn’t check all the code). @Jaeyoung-Lim you can test everything in gazebo simulator with SITL.

@tuloski You are right on that point

@tuloski @Jaeyoung-Lim Hi, guys. Thanks for comments. Currently, I’m trying to modify mc_att_control_main.cpp and mc_pos_control_main.cpp. [image] Trajectory Following via acceleration setpoints, which controller to use? PX4 Autopilot Hi, I’m developing a visual-inerti…

Position trajectory to MC position control

PX4 Autopilot

Jaeyoung-Lim August 1, 2018, 1:07pm 2

@tuloski You need a seperate controller in order to follow a trajectory. I am doing it by using offboard control setpoints using mavros.

It is still in a work-in-progress, but hope it helps.

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Position trajectory to MC position control

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