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Controller mellinger yaw direction reversed #335

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kyuhyong opened this issue Jun 19, 2018 · 3 comments
Closed

Controller mellinger yaw direction reversed #335

kyuhyong opened this issue Jun 19, 2018 · 3 comments
Milestone
2018.10

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@kyuhyong
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I tried to compare using PID and Mellinger for controller and found their yaw direction is opposite.
In cfclient, right yaw commands gives positive deg/s while left yaw gives negative deg/s
with PID controller, cf2 turns right when I commanded right yaw however
with Mellinger controller, cf2 turns left for the same command.
Is this intentional?
I tried to modify some code in the mellinger.c but changing the input does not help solving this issue.
Thanks,

Kyu
@krichardsson
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I think I'll pass this one on to @whoenig
Thanks!

@whoenig
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whoenig commented Jun 20, 2018

This is not intentional and sounds like a bug to me. The mellinger controller was more heavily tested for operation in a mocap, so this might be related to the slightly separate manual flight mode. I'll take a look.

whoenig added a commit to USC-ACTLab/crazyflie-firmware that referenced this issue Jun 23, 2018
@whoenig
Manual flight: same yaw rate for PID and Mellinger
f31693b 
The PID and mellinger controllers had different behaviors (inverse
yaw direction) in manual flight mode, see issue bitcraze#335.  The root cause
is that the legacy yaw input is actually inverse (with respect to
the CF coordinate system). This change changes the sign accordingly
before processing and fixes some other math issues related
to yaw control.

Tested with manual flight using PID and Mellinger controllers.
@whoenig whoenig mentioned this issue Jun 23, 2018
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@kyuhyong
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I applied the fix and tested with my drone today.
It seems the issue is gone with both CONTROLLER: Using controller 2 or 1
Thanks,
Kyu

@krichardsson krichardsson added this to the next-version milestone Aug 6, 2018
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2018.10
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@krichardsson @whoenig @kyuhyong