Hello,
I am using vicon to get the pose feedback for my drone. I am able to switch the pixhawk into offboard mode. Now what I am trying to accomplish is
- Give setpoints and takeoff and hover.
- Initiate in the position controller I have written to give desired roll pitch yaw angles which would be converted to quaternions and sent to pixhawk using setpoint attitude commands.
- I will require to supply some desired normalized thrust as well while doing so in the range between 0-1.
Now I am wondering how I can make this switch without crashing the drone?
Thank you.
@arg1885 I am not sure what the problem is. if your position controller is sufficient to control the vehicle, it won’t make it crash
I am more concerned about setting the nominal thrust value when I switch the setpoint from pose to attitude when initiating my position controller.
@arg1885 If you are worried, you can test it in SITL before you test it in the real vehicle.
For me, this has not been a issue as the thrust values mapping with the normalized thrust values can be calculated quite simply from your hardware. This is usually enough to fly the drone in a predictable manner.
If you need an example you can see what I am doing here
What is your Hardware configuration…???