- The parameter is shared with the manual mode's maximum horizontal thrust (renamed from OMNI_MAX_HOR_THR to OMNI_DFC_MAX_THR) defined in the mc_att_control module
- The definition for the OMNI_ATT_MODE moved from mc_pos_control module to mc_att_control
- The thrustToAttitude function now has additional omni_dfc_max_thrust parameter
- Test modules are fixed to call the new thrustToAttitude function appropriately
- The code is tested in Gazebo for both manual and (semi-)autonomous modes
- The goal is to use all the possible (set by the user) horizontal thrust first and then tilt if necessary, thus achieving minimum possible tilt.
- This is an implementation of the following paper for OMNI_ATT_MODE = 1:
"A Daisy-Chain Control Design for a Multirotor UAV with Direct Force Capabilities", M. Hamza and E.N. Johnson, 2017 AIAA GNC Conference
- Still need to define a parameter for the maximum direct force
- OMNI_MAX_HOR_THR parameter specifies the maximum horizontal thrust compared to the maximum possible thrust generated by the vehicle for an omnidirectional multirotor
- Some observations:
- It's still not as smooth as expected (or maybe I'm not a good pilot)
- Acceleration on the body X axis feels lower than the body Y axis (no idea why)
- Flight tested in Gazebo sim in both Manual and Autonomous modes
- Couldn't make the recent changes in tasks from master branch work, so:
- Added gzclient to the command for gazebo tiltedhex and gazebo kill tasks
- Also used the desired presentation for the gazebo tiltedhex task
- The range for 3D-thrust in the 6-DOF multirotor mixer is changed to -1 to 1 now (fixed from 0 to 1)
- The Z thrust in the 6-DOF multirotor mixer is mapped to the Z-thrust command now (fixed from thrust command)
- The manual Z command in the rate controller maps to the negative Z-thrust (fixed from positive Z)
- The variable _thrust_body_sp in the rate controller renamed to _thrust_sp to be compatible with the older variable removed in the last commit
- The code tested in TakeOff, Manual, Hold, Position and Land modes on both tilted hex and iris
Accepting and working with 3D thrust commands now
- Tilt-Hex flies like a normal hex but with the new 6-dof mixer now (with some jitters)
- Some minor parameter changes in the hexa_x_tilt definition to make the simulated flight smoother
- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
- this reduces the risk of a faulty safety button triggering in regular
flight
