fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 02:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Auto traj - Add Trajectory logging

Browse Source 
- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables
This commit is contained in:
bresch
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent 2847ce20b8
commit 7205e8f359
9 changed files with 140 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/vehicle_local_position_setpoint.msg
+5
View File
@@ -14,4 +14,9 @@ float32 vz # in meters/sec
float32 acc_x # in meters/(sec*sec)
float32 acc_y # in meters/(sec*sec)
float32 acc_z # in meters/(sec*sec)
float32 jerk_x # in meters/(sec*sec*sec)
float32 jerk_y # in meters/(sec*sec*sec)
float32 jerk_z # in meters/(sec*sec*sec)
float32[3] thrust # normalized thrust vector in NED
# TOPICS vehicle_local_position_setpoint trajectory_setpoint