High-level to position control - where in the firmware code?
Posted: Wed Jan 29, 2020 6:44 pm
Hi,
I am trying to fly a non-standard drone platform autonomously, using the Roadrunner and LPS:
https://www.youtube.com/watch?v=ybk1CWp ... e=youtu.be
(the video is recorded with a different autopilot)
I was able to adjust the power distribution and low-level control loops (attitude and rate) so can fly manually without problems.
Position estimation using the LPS is also working (although not when using external Rx via BigQuad deck, but already looking for a solution in another thread).
To fly autonomously, I still need to tune the position control gains (I know where), but first I need to adjust the take-off and landing routines, and that is where I am lost. For example, I would like to start the motors with a low rpm, wait a second, and only then take off.
I would also like to use the assisted mode for the initial tests, but for now, haven't found which part of the firmware is used in that case.
So what remains unclear to me is what part of code is converting the high-level commands (take off, land, goto) into the inputs to the position controller.
I found the planner, but haven't yet figured out how things are linked...
Any help would be greatly appreciated!
Matej
I am trying to fly a non-standard drone platform autonomously, using the Roadrunner and LPS:
https://www.youtube.com/watch?v=ybk1CWp ... e=youtu.be
(the video is recorded with a different autopilot)
I was able to adjust the power distribution and low-level control loops (attitude and rate) so can fly manually without problems.
Position estimation using the LPS is also working (although not when using external Rx via BigQuad deck, but already looking for a solution in another thread).
To fly autonomously, I still need to tune the position control gains (I know where), but first I need to adjust the take-off and landing routines, and that is where I am lost. For example, I would like to start the motors with a low rpm, wait a second, and only then take off.
I would also like to use the assisted mode for the initial tests, but for now, haven't found which part of the firmware is used in that case.
So what remains unclear to me is what part of code is converting the high-level commands (take off, land, goto) into the inputs to the position controller.
I found the planner, but haven't yet figured out how things are linked...
Any help would be greatly appreciated!
Matej