External rateThrust publisher about flightgoggles HOT 12 CLOSED

Hi @ashwinvk94,

It sounds like your method of remapping/publishing input commands has issues. Your binary/stepping behavior sounds similar to that of the keyboard controller, where binary controller is the expected behavior. For testing, we recommend using the Logitech F310 or Xbox One controllers. How are you generating your rateThrust commands?

The rateThrust.msg accepts arbitrary float values for attitude rates and collective thrust. You are free to publish at any rate you wish, but the inner-loop controller runs at 120Hz in sim-time. 20Hz control sounds very low, but is probably doable.

Best,
-Winter

from flightgoggles.

@ashwinvk94, are you still having this issue?

from flightgoggles.

Hi Winter,

I was busy yesterday. I will send you more information about the problem later today.

from flightgoggles.

Hi Winter,

I am attaching two videos which show that the drone responds as expected when the rate inputs are discrete(Video1), but spins out of control initially when the rate inputs are continuous(Video 2). Please not that in video 2 the drone starts to spin out of control only when the thrust set point reaches a certain threshold(approx. 10.81).

The Videos show both the output of the camera and data on /uav/inputs/rateThrust through rqt.

Videos

Please let me know what you think.

from flightgoggles.

Wow, that's a very odd problem @ashwinvk94. Thanks for the videos! They were extremely helpful.

The takeoff threshold you're seeing makes sense. In version v2.0.0, we arbitrarily set this threshold to 10.79N (1.1G) in this line. We'll probably change it such that any tiny increase in thrust above 9.81N (probably 9.82N) will trigger takeoff in the future. In the meantime, you can change this line yourself to lower the takeoff threshold.

I'm not immediately sure what's going on with the flipping. After the initial flip, you seem to be able to regain control later on in the flight. What commit hash do you currently have checked out for the flightgoggles folder? We'll try to recreate the issue from the specific commit you're using.

Best,
-Winter

from flightgoggles.

@Winter-Guerra even I'm facing same problem, small RPY rates (like 1e-3) will spin the uav entirely

from flightgoggles.

Thanks for the suggestion. I will try lowering the thrust threshold for arming.

The commit hash is : ebb4d47615f905e3f2b17ef6b0a30c12ecb7204f

from flightgoggles.

Ok, I think we found the cause of the flipping issue. We're currently testing a fix.

from flightgoggles.

Thanks for the help. Hope you find the bug soon.

from flightgoggles.

The new patch is out! Please let us know if this fixes the flipping issue. Additionally, FlightGoggles should reset the drone to the start position after a collision.

# Pull new flightgoggles source code
cd ~/catkin_ws/src/flightgoggles
git pull
# Force flightgoggles to redownload binary at build time
catkin clean
catkin build

from flightgoggles.

Awesome. I'll test it out in a few hours and give you an update.

from flightgoggles.

The simulator is working fine now and the quad can be controlled by publishing the values to /uav/inputs/rateThrust

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