Aerial Robotics Testbed » telekyb3 » nhfc-genom3

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