Advanced Flight Controller

This page will go over how to use the trajectory tracking controller. The tracking controller is designed to follow a single trajectory from start to finish using a lower level velocity controller. This controller will run closed loop on the desired trajectory, but is not designed to accept a constantly changing trajectory. A trajectory can either be passed via a rostopic or as a .txt file

• Usage
• ROS Parameters

Usage

• Start the ROS Bridge.
• launch roslaunch mslquad traj_controller.launch

As with all launch files, make sure the target namespaces are correct. Once a trajectory is read a Moving to next waypoint message will appear. To start the trajectory a Time ROS msg needs to the sent to tower/scramble.

ROS Parameters

Trajectory Controller Parameters:

• traj_target_topic: Rostopic MultiDOFJointTrajectoryPoint. (command/trajectory)

  Target trajectory of the quad

• load_traj_file: Boolean. (True)

  Use onboard onboard text file.

• traj_file: string. (params/trajectories/traj.txt)

  onboard trajectory file. See example file. Six values per line pos_x pos_y pos_z vel_x vel_y vel_z`

• traj_timestep: float. (0.2)

  timestep (in sec) between sequential waypoints.

• traj_Kp: float. (2.0)

  Proportional gain on the velocity controller