I have to publish a required throttle and attitude to setpoint_raw/attitude. I am unable to figure out, how a mapping between the actual thrust(force or acceleration) required and throttle can be made. Any help? Please note that the required acceleration is computed using a guidance algorithm. Tha…

[image] Quadrotor-Developer: I thinks his approach is more like a P controller…It is not based on the model My bad, it obviously is… Still, maybe a function would do better? I think it could be better to find the exact mapping. Maybe this How are pwm values set after controllers outputs are…

[image] Jaeyoung-Lim: @robin-ecn The only thing you need to figure out is the scaling factor between the normalized thrust and the acceleration. This is hardwawre dependent on what kind of mootrs / voltage you are using. A good guess can be made with the hover throttle. For example, if your dro…

@robin-ecn The actuator commands corresponds to the PWM values commanded on the ESCs. The nonlinearity is not that high and I believe the performance will not be too bad even if you assume that it is linear. Given that the thrust values will not vary too much around the hovering value of the thrust …

[image] Jaeyoung-Lim: @robin-ecn The actuator commands corresponds to the PWM values commanded on the ESCs. The nonlinearity is not that high and I believe the performance will not be too bad even if you assume that it is linear. Given that the thrust values will not vary too much around the hov…

[image] Quadrotor-Developer: I thinks his approach is more like a P controller…It is not based on the model My bad, it obviously is… Still, maybe a function would do better? Check the actuator_control in mavros mavros_msgs/ActuatorControl Documentation . I believe it is useful.

[image] robin-ecn: Check the actuator_control in mavros mavros_msgs/ActuatorControl Documentation . I believe it is useful. @robin-ecn are you by chance talking about this topic ( Control Multicopter via thrust f and moments M )?

[image] Quadrotor-Developer: Check the actuator_control in mavros mavros_msgs/ActuatorControl Documentation . I believe it is useful. @robin-ecn are you by chance talking about this topic (Control Multicopter via thrust f and moments M)? It was me as well.:joy:

Hi, Jaeyoung. I have a question. When you said “The actuator commands corresponds to the PWM values commanded on the ESCs.”, you mean “actuator_control provided by MAVROS are actually the PWM of the motors”? Now I am trying to control the motors directly, do you have some good reference on that. T…

@robin-ecn You can look into how the mixer works : https://dev.px4.io/en/concept/mixing.html The actuator control message goes through the mixer as you can see here: http://docs.ros.org/api/mavros_msgs/html/msg/ActuatorControl.html

Hi, Jaeyong. In order to control each motor directly, I have read the webpages that you recommand and thank for that. Now my idea is I receive the pose information from mocap in my conputor and I compute the required force and torques to track a trajectory. Then, I can mapping the force and torque…

Thrust to throttle in /mavros/setpoint_raw/attitude

Quadrotor-Developer January 11, 2019, 9:51pm 18

@robin-ecn are you by chance talking about this topic (Control Multicopter via thrust f and moments M)?

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Thrust to throttle in /mavros/setpoint_raw/attitude

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