angular acceleration control and motion capture

classic Classic list List threaded Threaded
5 messages Options
Reply | Threaded
Open this post in threaded view
|

angular acceleration control and motion capture

Fabrizio Boriero
Hi everybody!
I am new here so greetings to the community!

I want to ask you if it is possible, with paparazzi, to control a
quadrotor in angular accelerations.
I need to use and external motion capture (Optitrack) to build a
position control on altitude and Yaw direction, but I want also to
control the roll and the pitch angles with an acceleration control.

So the simple question is: with Paparazzi, is it possible to send
acceleration controls from a ground station (PC) holding the attitude?

Many thanks!
Fabrizio

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
Reply | Threaded
Open this post in threaded view
|

Re: angular acceleration control and motion capture

Ewoud
Hi Fabrizio,

Welcome to Paparazzi! Indeed it is possible to control the angular accelerations of the drone, using INDI. It derives the angular acceleration from the gyroscope measurement through differentiation, and increments control inputs in order to achieve the desired angular acceleration. It is explained in this paper:
https://www.researchgate.net/publication/288856862_Adaptive_Incremental_Nonlinear_Dynamic_Inversion_for_Attitude_Control_of_Micro_Air_Vehicles

How you can enable this in Paparazzi is described here:

In fact, I would say it is easier to use the attitude estimation onboard the drone instead of the PC. As is described in the links above, you can specify two gains that will let you go from an attitude error -> gain -> angular velocity error -> gain -> desired angular acceleration.


Hope this helps.

Regards,

Ewoud Smeur

Van: Paparazzi-devel <paparazzi-devel-bounces+ewoud_smeur=[hidden email]> namens Fabrizio Boriero <[hidden email]>
Verzonden: vrijdag 5 januari 2018 10:05
Aan: [hidden email]
Onderwerp: [Paparazzi-devel] angular acceleration control and motion capture
 
Hi everybody!
I am new here so greetings to the community!

I want to ask you if it is possible, with paparazzi, to control a
quadrotor in angular accelerations.
I need to use and external motion capture (Optitrack) to build a
position control on altitude and Yaw direction, but I want also to
control the roll and the pitch angles with an acceleration control.

So the simple question is: with Paparazzi, is it possible to send
acceleration controls from a ground station (PC) holding the attitude?

Many thanks!
Fabrizio

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
Reply | Threaded
Open this post in threaded view
|

Re: angular acceleration control and motion capture

Ewoud
In reply to this post by Fabrizio Boriero
Hi Fabrizio,

Van: Paparazzi-devel <paparazzi-devel-bounces+ewoud_smeur=[hidden email]> namens Fabrizio Boriero <[hidden email]>
Verzonden: vrijdag 5 januari 2018 10:05
Aan: [hidden email]
Onderwerp: [Paparazzi-devel] angular acceleration control and motion capture
 
Hi everybody!
I am new here so greetings to the community!

I want to ask you if it is possible, with paparazzi, to control a
quadrotor in angular accelerations.
I need to use and external motion capture (Optitrack) to build a
position control on altitude and Yaw direction, but I want also to
control the roll and the pitch angles with an acceleration control.

So the simple question is: with Paparazzi, is it possible to send
acceleration controls from a ground station (PC) holding the attitude?

Many thanks!
Fabrizio

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
Reply | Threaded
Open this post in threaded view
|

Re: angular acceleration control and motion capture

Hector Garcia de Marina-2
In reply to this post by Fabrizio Boriero
Hi Fabrizio,

In principle, you can derive the moments in the rotorcraft from the gyroscopes.

I am not sure whether somebody has done what you request in Paparazzi. Is it possible? Sure! In fact, you can already send from the ground linear acceleration commands to a rotorcraft. It is an experimental branch, but I guess it will be available in master branch soon.

(I see that Ewoud already replied, he knows better about the details xD).



On Fri, Jan 5, 2018 at 10:05 AM, Fabrizio Boriero <[hidden email]> wrote:
Hi everybody!
I am new here so greetings to the community!

I want to ask you if it is possible, with paparazzi, to control a
quadrotor in angular accelerations.
I need to use and external motion capture (Optitrack) to build a
position control on altitude and Yaw direction, but I want also to
control the roll and the pitch angles with an acceleration control.

So the simple question is: with Paparazzi, is it possible to send
acceleration controls from a ground station (PC) holding the attitude?

Many thanks!
Fabrizio

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel



--
Héctor García de Marina

Check out my drones and other robots at my website: http://dobratech.com

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
Reply | Threaded
Open this post in threaded view
|

Re: angular acceleration control and motion capture

Fabrizio Boriero
In reply to this post by Ewoud
On 01/05/2018 10:25 AM, Ewoud Smeur wrote:
Hi Fabrizio,

Hi Ewoud,

Welcome to Paparazzi!

Thanks a lot :)

Indeed it is possible to control the angular accelerations of the drone, using INDI. It derives the angular acceleration from the gyroscope measurement through differentiation, and increments control inputs in order to achieve the desired angular acceleration. It is explained in this paper:
https://www.researchgate.net/publication/288856862_Adaptive_Incremental_Nonlinear_Dynamic_Inversion_for_Attitude_Control_of_Micro_Air_Vehicles

How you can enable this in Paparazzi is described here:

In fact, I would say it is easier to use the attitude estimation onboard the drone instead of the PC. As is described in the links above, you can specify two gains that will let you go from an attitude error -> gain -> angular velocity error -> gain -> desired angular acceleration.


Hope this helps.

Wow great! You gave me a lot of useful information!
Thanks a lot to everybody for your help!

Regards,
Fabrizio


Regards,

Ewoud Smeur

_______________________________________________
Paparazzi-devel mailing list
[hidden email]
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel