[Beetle][NMPC] The latest version of real machine #615
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…that leverages 4 thrusts as input
…ng for implementing multiple kinds of nmpc
…hovering in simulation! Only body_rate controller in Spinal should be used. The use of attitude controller in Spinal cannot guarantee the convergence of yaw angle.
…nd ft1, ft2, ft3, ft4 in base_thrust to Spinal. Better performance than pure body_rate controller.
…eate files for base solver and controller, not implemented.
…y the gains for body_rate control
… nmpc controllers)
… abstract equations;
…r; add an over-actuated model without servo delay
…calculate mass at the beginning. Implement .cpp and .h files for over_act_no_servo_delay model, but the solver can only find a solution when constraining servo angles to 0.
… can takeoff when servo angle is constrained to zero.
…om the config yaml file.
…ative of servo angle as control input in simulation. The integral process is u_cmd[4:] = u_cmd[4:] * ts_ctrl + x_now[13:], causing bad results.
…md[4:] * ts_ctrl + x_now[13:] to Sigma(u_cmd), leading to better results.
…l loop; add a prediction for command to eliminate the delay caused by NMPC computation
…008, and the corresponding t_servo: 0.035296. But this t_servo is too short to make NMPC unstable.
# Conflicts: # .gitignore # aerial_robot_base/src/aerial_robot_base.cpp # aerial_robot_control/include/aerial_robot_control/flight_navigation.h # aerial_robot_control/src/flight_navigation.cpp # aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c # robots/mini_quadrotor/urdf/mesh/main_body_livox.dae # robots/mini_quadrotor/urdf/robot.urdf.xacro
…uadrotor in one directory. For simulation, execute python simxxx. For implementation, directly execute the model file.
…ation result. The fixed part is also printed to approximate the real condition.
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What is this
This is a PR for NMPC method implemented for Beetle.
Details
This PR heavily relies on the PR #550 #549, so it would be better to merge this branch after merging them.
TODO