Jacob Moore
Jacob Moore
How long does it take to go from sensor measurement to actuator output?
This will be important to know if we can send motor commands to the firmware from ROScopter, in `PASS_THROUGH` mode.
I agree the implementation is a bit hacky with a `while` loop in the constructor :) Not sure the best way to fix it given the GUI issues you were...
Adding the TODO items from our discussions here: - [x] Recompute the canned aircraft according to the new derivation (add $F_x$ and $F_y$) - [x] Add the ability to use...
@avtoku FYI I added the suggestions from our code review that I did not implement to the issues tab. These were things that I thought weren't as urgent for this...
@bsutherland333 @iandareid I have some thoughts I'd like your input on. I implemented a mixing system that dynamically takes in the number of motors and the motor parameters to create...
Update: I can use Eigen statically by computing the pseudoinverse using the SVD. I just allocate matrices of the max size and do it that way. It didn't work before...
@bsutherland333 That's a great question. It is still up in the air for now. One task that I have not solved is what the mixing matrix looks like for servo...
Sounds good. There are times we will need more than just the fxyz values, i.e., a quadplane, where we have an fx and a fz, in addition to the xyz...
It would be good to move the mixer to the Jetson for flexibility. Thoughts if we mixed on the Jetson: - For a dynamically changing matrix, we might want to...