Changes¶
- 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().
Download¶
nhfc-genom3-2.5.tar.gz
Changes¶
- Allow velocity control by integrating missing position reference field
- Fix default value for rz in set_gtmrp_geom()
- Correctly deal with intrinsic reference flag
- Remove wrench observer and admittance filter
Download¶
nhfc-genom3-2.4.tar.gz
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¶
- 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