High Level Commander and Mellinger Controller

[aybarskizilay]

Hello everyone,

My CF2 is flying with Flow Deck + LOCO system in TDoA mode and result is pretty nice. I am using commander script

Code: Select all

send_position_setpoint(self, x, y, z, yaw)

and send 3D position set points. However, I am curious about the High Level Commander and Mellinger Controller. But I have several questions:

• Do they give better result regarding the position accuracy ? LPS gives +-10cm.

• Can I use high level commander and Mellinger Controller with LPS? Because I need to get real-time position data

• How to fill the trajectory list ? I mean which one is x-position, y-position etc?

• Can I use Mellinger controller with normal commander?

And last one, when we send a position setpoints with commander, each position setpoints are sent to CF2 for certain time, for example 5 seconds, so it actually doesn't fly smoothly. For example, let's say flight path is A-B-C. So CF2 flies to A, wait there certain time, until next position setpoint is sent to CF2. Does High Level Commander give smooth flight?

Thanks for the help