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[Control] enable to compensate gravity term for altitude control #584

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[Control] enable to compensate gravity term for altitude control #584

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tongtybj
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Add a flag to automatically compensate the gravity term for z axis control

Details

  • Currently system use the I term to compensate the gravity term, which results in a slow start. We introduce a new flag to automatically compensate this term.

TODO

  • Current takeoff procedure cause the overshooting in z axis if we enable the gravity compensation. This is because the increase of I control term during takeoff procedure. We may also need to plan a trajectory for takeoff procedure.

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