Jacob Moore
Jacob Moore
In order to set up a mixer for a custom frame (v-tail for example), a new mixer is required. In the current implementation, this is done by creating the new...
It would be useful to have a system that allows us to parametrically define the inertial parameters (Ixx, Iyy, Izz, etc) using positions and masses of the components of the...
We noticed that when flying at high throttle in simulation, the multirotor pitches, rolls, or yaws at a rate that increases with time. This causes the multirotor to fly away...
The RC node in simulation only supports 7 channels (due to a `pygame` limitation). It would be useful to have the same number of RC channels available in simulation as...
There are some things we should look at with the main loop of the ROSflight firmware: - [ ] What is the `loop_time_us` for? - [ ] Currently, if the...
In the current system, the controller outputs (in Nm or N) are mixed using the mixing matrices defined in `mixer.h`. These matrices combine the output but do not take into...
Updated the mixer for multirotors to make it based on the Chapter 14 implementation. For multirotors, since the output of the controller is forces and torques, the mixer computes the...
`rosflight_sim` for multirotors currently has parameters that determine the number of rotors and the motor positions. We need to update this so that it can support the same frame configurations...
The `status` message from the firmware currently only notifies the user if RC control is active or inactive. This is often confusing, however, since there are two types of RC...
The gains for the inner control loops in the firmware need to be tuned. Note that these gains are typically only applied for multirotor-type aircraft. Furthermore, we have sort of...