Re: [Paparazzi-devel] angular acceleration control and motion capture

[Hector Garcia de Marina]

Hi Fabrizio,

In principle, you can derive the moments in the rotorcraft from the gyroscopes.

I am not sure whether somebody has done what you request in Paparazzi. Is it possible? Sure! In fact, you can already send from the ground linear acceleration commands to a rotorcraft. It is an experimental branch, but I guess it will be available in master branch soon.

(I see that Ewoud already replied, he knows better about the details xD).

On Fri, Jan 5, 2018 at 10:05 AM, Fabrizio Boriero <address@hidden> wrote:

Hi everybody!
I am new here so greetings to the community!

I want to ask you if it is possible, with paparazzi, to control a
quadrotor in angular accelerations.
I need to use and external motion capture (Optitrack) to build a
position control on altitude and Yaw direction, but I want also to
control the roll and the pitch angles with an acceleration control.

So the simple question is: with Paparazzi, is it possible to send
acceleration controls from a ground station (PC) holding the attitude?

Many thanks!
Fabrizio

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Héctor García de Marina

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