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

[Fabrizio Boriero]

On 01/05/2018 10:25 AM, Ewoud Smeur wrote:

Hi Fabrizio,

Hi Ewoud,

Welcome to Paparazzi!

Thanks a lot :)

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.

Wow great! You gave me a lot of useful information!
Thanks a lot to everybody for your help!

Regards,
Fabrizio

Regards,

Ewoud Smeur