Essentially it is a PD position controller. The joystick moves the position setpoint and the controller tries to follow it. Then there is a state machine which can internally alter the position setpoint, this is how we achieve the automatic takeoff, landing and collision detection.
So you add joystick input to current position, then kind of like sending new desired position. This control method is different from normal control method, right? As I can see, normal one would get input from joystick and see it as attitude. If I am wrong, please correct me. thx.
Which positioning system are you using sir?
Hi, what control law do you use here. I mean the Crazyflie can hold the position and can also respond to the joystick command.
Essentially it is a PD position controller. The joystick moves the position setpoint and the controller tries to follow it. Then there is a state machine which can internally alter the position setpoint, this is how we achieve the automatic takeoff, landing and collision detection.
So you add joystick input to current position, then kind of like sending new desired position. This control method is different from normal control method, right? As I can see, normal one would get input from joystick and see it as attitude. If I am wrong, please correct me. thx.
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How does it detect its current Position? Is there any external motion detection camera?
Yes, we used a Vicon motion capture system, which is installed in the lab.