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landing時の高度制御 #91

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tongtybj opened this issue Feb 8, 2020 · 0 comments
Open

landing時の高度制御 #91

tongtybj opened this issue Feb 8, 2020 · 0 comments

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@tongtybj
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tongtybj commented Feb 8, 2020

https://github.com/tongtybj/aerial_robot/pull/378　
により、高い高度からでも安全に着地できるようにしてみました。

通常のlandingであれば、デフォの値 で十分な効果が期待できると思います。

一方、昔の着地動作を維持したいときは、 safe_landing_heightをなるべく大きくしてください(e.g 2m).

mbzirc2020_taskx_common/config/DifferentialFlatnessPidControlConfig.yamlのcontroller/alt以下に書いてください。
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