Thoughts/Blockers on supporting non-zero ang_vel_des?

[kshitijgoel007]

Hi,

Thanks for open-sourcing your setup!

Regarding:

crazyflow/crazyflow/control/mellinger/control.py

Line 213 in d60abc7

# Warning: We assume zero desired angular velocity

Any thoughts on using desired angular velocities (derived from jerk, etc.) and feedforward angular acceleration? Just trying to understand if there are any fundamental blockers to it.

[amacati]

Hey, no, there are no principal blockers for it, but we are trying to keep the Mellinger controller as close as possible to the firmware of the Crazyflies. I don't know off the top of my head how the firmware handles the feedforward terms. If they are enabled, it would be awesome if you could point us to the exact lines, and we will correct it as soon as possible. If not, then we will leave the controller as it is to reflect what is happening on the real drones.

However, we are always open to include other controllers into the simulation. So if you are interested in adding a controller that is using e.g. collective thrust and torques, we would be open to include it as well, just not under the Mellinger controller.

[ratheron]

See #52. Activating rates by themselves should be an easy addition (basically the RPYT interface, but with rates). However, I believe you are refering to the full state setpoint, where an attitude and the rates are given, right?