Aerial Robotics Testbed » telekyb3 » nhfc-genom3

Changes¶

• Fix sign of torque in set_gtmrp_geom()
• Add a "tilt prioritized" attitude controller (and make it the default)
• Add set_velocity(), to track a given velocity
• Don't go down if there is no position reference

Download¶

nhfc-genom3-2.3.tar.gz

Changes¶

• Add an explicit emergency state in the permanent activity automata
• Add set_gtmrp_geom() helper for Generically Tilted Multi-Rotor Platform
• Don't fly until a robot geometry has been explicitly configured

Download¶

nhfc-genom3-2.2.tar.gz

Changes¶

• Fix computation of min/max thrust when setting a new allocation matrix

Download¶

nhfc-genom3-2.1.tar.gz

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

Changes¶

• Reset integral term of the position controller when in emergency (or without a desired position).
• Use aio(7) for logging and drop log entries when io requests are too slow

Download¶

nhfc-genom3-1.5.tar.gz

Changes¶

• Increase the default thresholds on the state covariance to go to emergency
• Reduce default saturation for error in position from 20 to 10cm
• Fix computation of the integral term on the position error

Download¶

nhfc-genom3-1.4.1.tar.gz

Changes¶

• Do an emergency (accelerated) descent in presence of uncertain state
• Add an integral term on the position controller
• Reset desired state after nhfc::stop (#114)

Download¶

nhfc-genom3-1.4.tar.gz

Changes¶

• Update default controller parameters / gains.
• Try to fall down gently if no desired position is given (in servo mode).
• Do not servo until the first valid position is received.
• Scale output from 0 to 100% in 3s by default after the first valid position is received.
• Require openrobots-idl-1.4, catchup with rotorcraft interface changes.
• Log additional data: total thrust and desired state.

Download¶

nhfc-genom3-1.3.tar.gz

Changes¶

• Add a logging interface (logging desired forceßtorques and current errors)
• Add set_state() and set_position() to the interface, setting the desired state
• Make all servo parameters tunable
• Allow different set of gains on Z and XY axes

Download¶

nhfc-genom3-1.2.tar.gz

This release was required to adapt to openrobots-idl changes, but this is completely untested.

Changes¶

• Rewrite the controller using rotation matrices intead of roll/pitch
• Update controller interface (velocities instead of wrench,
  openrobots-idl 1.2)

Download¶

nhfc-genom3-1.1.tar.gz