integral action-LQR control for quadcopter UAV #25823
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modified: libraries/AC_CustomControl/AC_CustomControl.h new file: libraries/AC_CustomControl/AC_CustomControl_LQR.cpp new file: libraries/AC_CustomControl/AC_CustomControl_LQR.h
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not your problem to add PID metadata...thats historical...but line 18 of AC_CustonControl.cpp needs this type added |
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@Hwurzburg kindly review this. Will be commiting hyperparams for making lqr viable for any quadcopter shortly |
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| #include <GCS_MAVLink/GCS.h> | ||
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| // table of user settable parameters |
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These parameters are not currently used. the lqr gains for each axis are hardcoded, and are currently set for a symmetrical 10 inch quadcopter. The details on how to calculate these params for different systems will be included in readme
| @@ -8,14 +8,15 @@ | |||
| #include "AC_CustomControl_Backend.h" | |||
| // #include "AC_CustomControl_Empty.h" | |||
| #include "AC_CustomControl_PID.h" | |||
| #include "AC_CustomControl_LQR.h" | |||
| #include <GCS_MAVLink/GCS.h> | |||
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| // table of user settable parameters | |||
| const AP_Param::GroupInfo AC_CustomControl::var_info[] = { | |||
| // @Param: _TYPE | |||
| // @DisplayName: Custom control type | |||
| // @Description: Custom control type to be used | |||
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| // @Description: Custom control type to be used | |
| // @Description: Custom control type to be used: See README.md file |
you need to add a section in the README file for LQR...maybe with a wikipedia link to it also
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Hello @Hwurzburg, readme changes have been pushed. Kindly review them
An example attempt to integrate a custom attitude controller for quadcopter UAV. The controller is based on a Linear Quadratic Regulator with integral action to eliminate steady state errors.