cmdFullState #569
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I added the attitude in cmdFullState, and there was no change during the flight when I moved to the specified position. Did it undergo internal correction? If so, how to close it. |
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This depends on the controller that you pick. Most (all?) controllers use the differential flatness of quadrotors: the position/velocity/acceleration together with the desired yaw decide on the roll/pitch angles. So if you change the attitude in cmdFullState, only yaw should have an affect. (Roll/pitch can be changed for fully-actuated cases, which physically do not exist, yet.) |
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Thank you very much! |
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This depends on the controller that you pick. Most (all?) controllers use the differential flatness of quadrotors: the position/velocity/acceleration together with the desired yaw decide on the roll/pitch angles. So if you change the attitude in cmdFullState, only yaw should have an affect. (Roll/pitch can be changed for fully-actuated cases, which physically do not exist, yet.)