Bitcraze Forums

Hi,

I have been using crazyflie_ros for a while, and I'm doing trajectory tracking now. I think about adding feedforward term in the position controller, i.e. offboard controller. What I did is added feedforward velocity and feedforward acceleration into the calculation of roll and pitch sent to onboard controller. I've tested for quite a long time, but the performance is quite bad when it comes to fast trajectory tracking. Actually it is not that fast, just around 1m/s. Is anyone doing the same thing like me? Could you give me some advice on that?

Thanks.

I have no experience with feed-forward controllers but we have had quite good experience with the Mike's quaternion non-linear onboard controller (https://github.com/bitcraze/crazyflie-f ... -263012358). It is quite robust and follows trajectory quite well, mostly when the trajectory is also calculated onboad (there is some branch for that on github as well if you are interested, we plan to merge this in the master branch).

Wolfgang from USC also have a branch is a very good controller and trajectory generation, it is the crazyswarm project and branches: https://github.com/USC-ACTLab/crazyswarm.

Those controller are all working onboard though, I am no aware of any extensive work on an offboard controller.

arnaud wrote:I have no experience with feed-forward controllers but we have had quite good experience with the Mike's quaternion non-linear onboard controller (https://github.com/bitcraze/crazyflie-f ... -263012358). It is quite robust and follows trajectory quite well, mostly when the trajectory is also calculated onboad (there is some branch for that on github as well if you are interested, we plan to merge this in the master branch).

Wolfgang from USC also have a branch is a very good controller and trajectory generation, it is the crazyswarm project and branches: https://github.com/USC-ACTLab/crazyswarm.

Those controller are all working onboard though, I am no aware of any extensive work on an offboard controller.

Thanks, arnaud. I'm actually working on that. Hope I can make it work.