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AttitudeControl: let the user set yaw weight directly via parameter #12175
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This is setting a default of 0.4, what would the defaults have roughly been before? I don't have a feeling for what yaw P gain would be compared to pitch/roll. |
@jkflying Good point. I should mention:
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@sfuhrer I quickly rebased on master for further testing on VTOL. I could also enable the option to make yaw eight dependent on the roll, pitch error. I once created a python script here: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/blob/master/quaternion_attitude_control/quaternion_attitude_control_test.py#L232 to visualize the result of different yaw weights. |
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
@MaEtUgR this is worth keeping open, right? |
@sfuhrer Well yes, I should push it through and do the necessary testing 😬 |
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I revived this and finished the work:
Open for review, testing. I'm quite confident on this one. It just allows to change the priority of yaw compared to roll and pitch in the non-linear attitude controller with non-default tuning. The main goal is that if you keep the yaw weight e.g. default and just tune the yaw gains you only change the feedback gain but not the relative priority. |
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instead of infering the yaw weight from the gains which can lead to unexpected results depending on the particular vehicle tuning.
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I found a better implementation for the exact same thing and squashed my commits. |
@PX4/testflights Could you please do a quick test on this with focus on multicopter yawing? Stabilized, Altitude, Position, Mission just check if yaw tracking looks like expected. |
Tested NXP FMUK66 V3Modes Tested
Procedure Notes Logs
Tested Pixhawk 3 V4ProModes Tested
Procedure Notes Logs |
Tested on pixhawk4 v5 f-450 Position Mode: Good. Notes Logs |
Tested on PixRacer V4Modes Tested Position Mode: Good. Notes Logs https://review.px4.io/plot_app?log=f667ae28-5495-4694-ae36-b85ddff54698 Tested on CUAV nano V5Modes Tested Position Mode: Good. Notes Logs https://review.px4.io/plot_app?log=cd036b34-a4c4-4764-af43-1277d34552b4 |
Thanks so much for testing! Yaw tracking looks like expected in the logs. I checked against other recent flights on master. |
instead of infering the yaw weight from the gains which can lead to
unexpected results depending on the particular vehicle tuning.