mc_rate_control: publish angular acceleration setpoint #14035
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FYI @RomanBapst |
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#14034 has been merged, rebasing. |
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@PX4/testflights Please test slowly and carefully in manual attitude flight. |
| @@ -90,7 +94,7 @@ Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, cons | |||
| updateIntegral(rate_error, dt); | |||
| } | |||
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| return torque; | |||
| return _angular_accel_sp + torque_feedforward; | |||
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@dagar This does not make sense to me. It seems like we are mixing torque and angular acceleration.
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@dagar Have a look at how it's done here:
https://github.com/PX4/Firmware/pull/13219/files#diff-13b03bafb0e0ca7eac858fab3d26b070R97
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@dagar Let's add a comment indicating that we are assuming an identity inertia matrix, then I think it will be more clear.
Tested on NXP FMUK66 v3Modes Tested
Procedure Notes Log |
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Tested on pixhawk4 v5 f-450 Altitude Mode: Good. RTL (Return To Land): Good. Notes Log https://review.px4.io/plot_app?log=0444d554-8057-4802-b13f-36705dd44a3c |
Tested on CUAV nano V5Modes Tested Altitude Mode: Good. Notes Log: https://review.px4.io/plot_app?log=2417cd21-20c3-4e84-b08e-fb0b627301b4 Tested on PixRacer V4Modes Tested Altitude Mode: Good. Notes Log: https://review.px4.io/plot_app?log=d0813090-78d1-4548-b6cf-7191867c43b3 |
This is another little piece of #13219 we can pull in.