Goal yaw about faster HOT 3 CLOSED

Modifying the following parameters I obtained a trajectory with very small rotations:
faster.yaml
w_max: 0.2 #4.0 # [rd/s] Maximum angular velocity. ~4.0 for Hardware
alpha_filter_dyaw: 0.99 #0 #was 0.92 #[] Filter parameter for dyaw, \in [0,1]. Higher--> More aggressive filtering
v_max: 1 # 5.0 #[m/s] 1.4
a_max: 1 #5.0 #[m/s2] 1.4
j_max: 35 #8.0 #[m/s3] 35

Does anyone have any further advice?

from faster.

Hi @giorgiovaccarino,

When you do this:

self.desired_position.pose.position.x = data.p.x
self.desired_position.pose.position.y = data.p.y
self.desired_position.pose.position.z = data.p.z
q = quaternion_from_euler(0, 0, data.yaw)
self.desired_position.pose.orientation.x = q[0]
self.desired_position.pose.orientation.y = q[1]
self.desired_position.pose.orientation.z = q[2]
self.desired_position.pose.orientation.w = q[3]

I think you are not taking into account that the acceleration of the goal message is determining two degrees of freedom of the orientation of the drone. The last degree of freedom is determined by yaw.

You can find an example of how to map acceleration and yaw to a quaternion in this file, which is the one used by FASTER in the simulation. More info is available in Table 3 of this paper.

Hope this helps!

from faster.

Closing this for now, feel free to reopen it if you are still facing this issue

from faster.