Emulation of bidirectional rotors
Added by Youssef Aboudorra over 1 year ago.
Updated over 1 year ago.
Not a bug report per se. However, I am working on a controller that requires rotor velocities in both directions, and I was wondering if something could be done to let mrsim-gazebo emulate this.
So far I use rotorcraft-genom3, and seems to me it accepts the negative rotor_input without issues, but it's not clear to me if ignores the sign of direction when it communicates with the pty of mrsim-genom3, or mrsim-genom3 is agnostic to the the sign.
I would appreciate your insight on this.
just a couple of additions to Youssef message:
- for a project we need to deliver a work in which we use bidirectional propellers in which we need to do simulations, simulations have to be done no later than this month (11/21)
- if it is not possible in mrsim then we need to use another simulator
- so it is very important for the project to know if this is possible/available in mrsim otherwise we need quickly to migrate to another simulator or modify the existing one in some other way
Right, there are several issues that curently prevent from inverting
the spipnning direction. The sign of the target velocity is ignored in
Thanks for the report, I will check if this can be fixed easily.
- Status changed from New to Feedback
Thanks, for your fast response.
Now the spinning velocity can be inverted along with the corresponding thrust, however this was only possible when I send the set points using set_velocity() of rotorcraft.
If I use the servo() function to rely on the rotor_input port connected to the controller component, and a switch in the spinning is commanded from the controller: all rotors stop spinning. So I think the change of spin triggers something in servo() to stop the rotors.
Appreciate your support
Thanks for testing.
When rotors stop, could you check if the servo() activity reports a
Since while reverting, the rotors temporarily pass through a "not
spinning" state, this might be the explanation. I'll try to find a
In the meatime, I attempted a fix in rotorcraft-genom3.
You might want to try the last update, at least
rotorcraft-genom3:39d9a11615. For me it seems to work (although
I don't have any suitable controller for in-depth testing).
Now it works with the last fix. I will keep testing and if I find something strange, will report it.
P.S. I have another point regarding the max spinning velocity, but I will post in another issue to conclude this one.
Thank a lot for your support
- Status changed from Feedback to Closed
Good! I'm closing the issue, then.
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