Hi friends, I have realized that mavros is ignoring my values of accelerations when using /mavros/setpoint_raw/local message. However, it works when just using velocities, positions or yaw in that topic.
Currenlty using:
- Px4/Firmware 1.11.3
- Ubuntu 20
- Ros Noetic
- gazebo 11.5.1
Im trying to avoid use of /mavros/setpoint_accel/accel in order to publish only one msg.
Issue description:
I have a velocity PID (w/ 2.5 saturation) that commands ‘v’ values ok but, initially, Vz:2.5m/s is reached in 0.1secs. This is a maximum output on actuators (2000) and I would like to reach that Vz gradually (i.e. 1sec) at the beginning, because this behaviour (acc:25m/s2) is not good for motors.
I changed the type_mask to allow acceleration values as input (show in fig1)
However, it seems that mavros are ignoring them. As fig2 and fig3 show, velocity is almost instantly reached and accel_raw is too high. Also I use FRAME_LOCAL_NED as coordinate_frame, and I tested different MPC_ACC_UP_MAX but it seems that it doesnt affect.
I did several tests with the following combinations:
- w/ and w/o force flag
- Setting accel values (3.5, 5.0 … etc) on XYZ, and only on Z
- Reduce mpc_jerk_auto from 8 to 2)
- Set MPC_POS_MODE to 3 and 4 (usually 0)
I checked #1365 and #14345 and related topics, but have not found a solution yet. Hope we can manage accels in offboard mode.
Any help on this will be much appreciated.
Best
Javi