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pom-genom3: pom-genom3 3.0 released

Added by Anthony Mallet 12 days ago

Changes

  • Switch to openrobots2-idl
  • Fix syntactic issues with older eigen
  • Display the covariance matrix diagonal when it becomes not positive definite
  • Allow non-integer history length (to make it less than one second)
  • Warn if computation is too slow (more than 110% of the period for 2 periods in a row)

Download

pom-genom3-3.0.tar.gz

libkdtp: libkdtp 1.2.1 released

Added by Anthony Mallet 12 days ago

Changes

  • Fix spline::synchronize() sometimes not converging, leading to a non-zero final jerk or snap.
  • Fix getDuration() on a local path so that it takes the actual maximum duration of all DoF (because all DoF might have slightly different durations even after a synchronization)

Download

libkdtp-1.2.1.tar.gz

maneuver-genom3: maneuver-genom3 2.0 released

Added by Anthony Mallet 12 days ago

Changes

  • Switch to openrobots2-idl
  • Don't publish a reference timestamp until first valid position is computed, so that position contrlles wait for the first reference before servoing on something.
  • In velocity mode, plan from the next trajectory sample to be executed, not the current one.
  • Increase the default snap derivative limit (for the velocity planner)

Download

maneuver-genom3-2.0.tar.gz

nhfc-genom3: nhfc-genom3 2.0 released

Added by Anthony Mallet 12 days ago

Changes

  • Generalize geometry parameters (using a 'G' matrix instead of hardcoded quadrotor geometry). The number of controlled rotors is set from the zero rows of the G¯¹ matrix.
  • Implement an external wrench observer. set_wo_zero() can be used to set the bias by assuming no external disturbance is present during the process. The computed external wrench is logged in the log file.
  • Add compliance with an admittance controller.
  • Print more precise emergency messages on stderr.
  • Switch to openrobots2-idl

Download

nhfc-genom3-2.0.tar.gz

mikrokopter-genom3: mikrokopter-genom3 2.0 released

Added by Anthony Mallet 12 days ago

Changes

  • Switch to openrobots2-idl
  • Reset imu values to NaN in case of timeout, to clean log files
  • Measure effective sensor rate and refuse to servo() if below 80% of the desired rate. Also log the measured rate in the log file
  • Don't scale input twice during startup ramp
  • Actually send only non-NaN rotors velocities (saves bandwidth)
  • Improve motor startup, by resending startup message in case it was lost
  • Print unknown flight controller messages on stderr.

Download

mikrokopter-genom3-2.0.tar.gz

mrsim-genom3: mrsim-genom3 2.0 released

Added by Anthony Mallet 12 days ago

Changes

  • Switch to openrobots2-idl
  • Don't restart motors if they are starting already
  • Add a set_mass attribute, changing the simulated robot mass
  • Add a set_geom attribute, changing the geometry parameters
  • Add a set_rotors attribute, setting the number of controlled rotors
  • Add a set_motor attribute, changing the simulated robot motors

Download

mrsim-genom3-2.0.tar.gz

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