Fix tiltrotor motor tilt oscillations #471
Merged
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
Fix tiltrotor joint oscillations
Jaeyoung-Lim
force-pushed
the
pr-fix-oscillations
branch
from
11a9142 to
c3e4d08
Compare
sfuhrer
approved these changes
Apr 28, 2020
There was a problem hiding this comment.
It's much better with these changes, especially using tilt support in hover and transitions. Awesome @Jaeyoung-Lim !
bkueng
reviewed
Apr 29, 2020
bkueng
reviewed
May 6, 2020
| @@ -156,6 +156,7 @@ void GazeboMavlinkInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf | |||
| input_reference_.resize(n_out_max); | |||
| joints_.resize(n_out_max); | |||
| pids_.resize(n_out_max); | |||
| joint_max_errors_.resize(n_out_max); | |||
There was a problem hiding this comment.
Would be better to have a single vector for those 3, but given it's already done that way, no need to change here.
This removes the magic number of max joint errors to be able to explicitly define the maximum error handled for the pid controller in the joints
Jaeyoung-Lim
force-pushed
the
pr-fix-oscillations
branch
from
9cbd687 to
e820b9a
Compare
RyosukeMatsushima
pushed a commit
to RyosukeMatsushima/PX4-SITL_gazebo
that referenced
this pull request
Jun 21, 2022
* Fix tiltrotor oscillations Fix tiltrotor joint oscillations * Add maximum joint error as paramters This removes the magic number of max joint errors to be able to explicitly define the maximum error handled for the pid controller in the joints
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Outdated suggestions cannot be applied.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.
This PR fixes the tilt rotor motor tilts oscillating during flight and even during the vehicle is stationary. This was causing the joint position to be more or less random and was blocking a lot of functionalities to work that require joint position to be precise (e.g. controlling yaw based on tiltrotor tilt). Also, the flight shows instabilities due to the motors pointing in arbitrary directions during flight.
The oscillations were caused by the following reasons.
To solve the problem the following is proposed
Before PR
After PR
