Plane already support set_position messages, but it only processes the altitude field. I can add this feature without changing functionality.
Although, I never needed anything higher than 1 Hz for plane, I still can not see how high frequency guided command would cause oscillation in tecs height demand.
What kind of input signal do you send to access the performance? What is the wingspan of your aircraft? The TECS algorithm is set to run at no more than 50 Hz(10 Hz for the most part). There is also LP filter with fixed cutoff frequency and 2 points moving average filter in the handling of high reference in TECS. So if you are gonna apply high-frequency sine wave it will be damped by these filters.
In the past, we obtain the performance of roll and pitch controller in Arduplane by sampling at 150 Hz. I think you can lower the sampling frequency. You can check our paper for more detail. A Model Based Flight Control System Design Approach for Micro Aerial Vehicle Using Integrated Flight Testing and HIL Simulation
Hello, I am currently doing my masters and I am using a pixhawk cube for my project. I am wanting to create a new flight-control algorithm that will completely replace the L1 flight controller in at least one flying mode. It would be ideal if I could get this working for the loiter mode. I have read through the entire dev wiki and I have had a good look through the git repository. Unfortunately, I have not been able to see exactly which parts of the code I would need to change.
Would someone please be able to point me in the right direction and possibly give me some tips or pointers?
Are all the raw or filtered sensor measurements easily accessible?
Also how easy would this be to do?
Any help would be greatly appreciated