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

[Ewoud Smeur]

Hi Fabrizio,

Welcome to Paparazzi! Indeed it is possible to control the angular accelerations of the drone, using INDI. It derives the angular acceleration from the gyroscope measurement through differentiation, and increments control inputs in order to achieve the desired angular acceleration. It is explained in this paper:
https://www.researchgate.net/publication/288856862_Adaptive_Incremental_Nonlinear_Dynamic_Inversion_for_Attitude_Control_of_Micro_Air_Vehicles

How you can enable this in Paparazzi is described here:

https://wiki.paparazziuav.org/wiki/Working_with_INDI

In fact, I would say it is easier to use the attitude estimation onboard the drone instead of the PC. As is described in the links above, you can specify two gains that will let you go from an attitude error -> gain -> angular velocity error -> gain -> desired angular acceleration.

The relevant source file is: https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c

Hope this helps.

Regards,

Ewoud Smeur

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Van: Paparazzi-devel <paparazzi-devel-bounces+address@hidden> namens Fabrizio Boriero <address@hidden>
Verzonden: vrijdag 5 januari 2018 10:05
Aan: address@hidden
Onderwerp: [Paparazzi-devel] angular acceleration control and motion capture

 

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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