geometric_controller

Trajectory trackking controller using mavros package in PX4 OFFBOARD mode. This is a implementation of a geometric controller and differentially flat system considering rotor drag

Overview

Trajectory trackking controller using mavros package in PX4 OFFBOARD mode. This is a implementation of a geometric controller and differentially flat system considering rotor drag

Parameters

• /geometric_controller/mavname (default: "iris")
• /geometric_controller/ctrl_mode (default: MODE_BODYRATE)
• /geometric_controller/enable_sim (default: true)
• /geometric_controller/enable_gazebo_state (default: false)
• /geometric_controller/max_acc (default: 7.0)
• /geometric_controller/yaw_heading (default: 0.0)
• /geometric_controller/drag_dx (default: 0.0)
• /geometric_controller/drag_dy (default: 0.0)
• /geometric_controller/drag_dz (default: 0.0)
• /geometric_controller/attctrl_constant (default: 0.2)
• /geometric_controller/normalizedthrust_constant (default: 0.1)

Topics

The geometric controller publishes and subscribes the following topics.

• Published Topics

  • command/bodyrate_command ( mavros_msgs/AttitudeTarget )
  • reference/pose ( geometry_msgs/PoseStamped )

• Subscribed Topics

  • reference/setpoint ( geometry_msgs/TwistStamped )
  • /mavros/state ( mavr0s_msgs/State )
  • /mavros/local_position/pose ( geometry_msgs/PoseStamped )
  • /gazebo/model_states( gazebo_msgs/ModelStates )
  • /mavros/local_position/velocity( geometry_msgs/TwistStamped )

References

[1] Lee, Taeyoung, Melvin Leoky, and N. Harris McClamroch. "Geometric tracking control of a quadrotor UAV on SE (3)." Decision and Control (CDC), 2010 49th IEEE Conference on. IEEE, 2010.

[2] Faessler, Matthias, Antonio Franchi, and Davide Scaramuzza. "Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories." IEEE Robot. Autom. Lett 3.2 (2018): 620-626.

Contact

Jaeyoung Lim jalim@student.ethz.ch