Add deadzones and command clamp #73
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
This is an example of what I'm seeing. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
After our last flight test, we realized that the input mapper could really use some deadzones to avoid gradual drift in high-level control. I also am concerned about rates moving faster than the vehicle can manage, so I added command clamping to avoid letting the altitude, course, or airspeed command get too far away from the current state of the vehicle.
Both of these are working well, with the exception of the course clamping. There is a steady state difference between the commanded course and the estimated course, making moving in one direction slow because it is being clamped to a state that is further away than it should be. @iandareid do you know why this might be?