启动mavros节点经常看到两条红色报错 reject position controll的原因就是,那个时候T265的位置数据还没有传给飞控,飞控没有位置数据,当然拒绝切到定点模式。

启动mavros节点经常看到两条红色报错 reject position controll的原因就是,那个时候T265的位置数据还没有传给飞控,飞控没有位置数据,当然拒绝切到定点模式。而且这个时候你遥控器切到Position模式下地面站是不会显示position的,因为确实拒绝切,地面站也会报错reject position controll

 

这也是为什么经常无视这个红色报错信息。一般节点起起来有红色报错不正常。

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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<div><h3>Describe problem solved by the proposed pull request</h3> <p><strong>Current state:</strong> The model controlled by the velocity PID controller is contains one integrator which removes steady-state error when a constant setpoint is applied. To track a ramp setpoint, an integrator (I term of the PID controller) increases the order of the closed-loop system and remove the steady-state error.</p> <p><strong>Problems:</strong> - The controller cannot track a parabolic setpoint - To reduce the steady-state error during acceleration, the gain of the integrator has to be quite high, which causes an overshoot at the end of the ramp. This can be attenuated by a jerk-limited setpoint, but isn't enough. - The drone does not feel responsive and the setpoints are tweaked as an attempt to hide bad tracking (setpoint resets, increase jerk and acceleration limits). This leads to hazardous behaviors.</p> <h3>Solution proposed by this PR</h3> <p>A feedforward on the controller is commonly used in industry to improve tracking. Since some flight tasks already produce acceleration setpoints, they can easily be fed as feedforwards. With a feedforward, the feedback controller is then only needed to remove the steady-state error and reject disturbances.</p> <h3>Describe possible alternatives</h3> <ul><li>Increase the order of the system by 1 (add an other integrator)</li><li>A different type of controller.</li></ul> <h3>Tests</h3> <p>SITL tests: <em>Without feedforward (now):</em> <img alt="2019-05-21_15-01-08_01_plot" src="https://img-blog.csdnimg.cn/img_convert/a607d61fef6d0d38c3ae2b257c08d72c.png" /> <em>With feedforward (this PR):</em> <img alt="2019-05-21_14-55-01_01_plot" src="https://img-blog.csdnimg.cn/img_convert/263c35fee108d014e4651078a06b74e2.png" /></p> <p>FYI </p><p>该提问来源于开源项目:PX4/Firmware</p></div>
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