@arsene wrote:
Hello, guys,
I'm trying to write a self-defined trajectory and utilize the guided mode to let the quads track this trajectory by writing a 2-HZ loop such that each time a new waypoint along this trajectory can be updated. However, I found that the quads cannot track the desired trajectory very well. I got a log to compare the designed position, the desired position (the postarget variable in the AC_WPNav class), and the actual position. They are shown as follow. In this image, I just compare the three valuse in the X direction. I use the DAccX variable to denote the designed X position. In this case, I design a sine wave trajectory for the X direction. However, it is seen that the desired position (DPosX) has a large phase lag (means a long time delay). The actual position (PosX) tracks the desired position well, but also has a large phase lag with respect to the designed position.
Image may be NSFW.
Clik here to view.So it can be concluded that the controller works well (as PosX tracks DPosX well), but the waypoint command generator has a large phase lag. I dig the code and realise that it may be due to the advance_wp_target_along_track function (called by the update_wpnav). I think it puts too much constraints on the intermediate waypoint. Is there any suggestion to improve the waypoint controller (the update_wanav and advance_wp_target_along_track functions) to avoid the target position delay and yield a fast waypoint response?
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