Compute reference angular velocities thanks to differential flatness, improving the tracking of tilting angles.
Update the wrench saturation algorithm by an optimization routine trying to maintain thrust direction, with more sensible behaviour that the previous bissection algorithm. This is enabled by default, but can be disabled or tuned with set_saturation_weights(). Log file is augmented with 'sat_fz', 'sat_tx', 'sat_ty', 'sat_tz' columuns indicating the scaling factor applied to each component (compared to non-saturated original thrust and torques).
Add reset() function to cancel controller, stop controlling the robot, and return to waiting for a valid reference. Not to be used during a flight.
Rename stop() to hover(), hopefully avoiding any further confusion about the semantics of this function.
Consider jerk in nhfc_reference_check and reset it in case of missing data.
Avoid NaNs in rotor_input port for negative propeller speeds.
Compute the min/max admissible torque given propellers limits, visible in get_body_parameters().
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