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
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