Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Motor Delay #219

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Motor Delay #219

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,11 @@ If you wish, please cite our [IROS 2021 paper](https://arxiv.org/abs/2103.02142)
## Desired Contributions/PRs

- [ ] Add motor delay, advanced ESC modeling by implementing a buffer in `BaseAviary._dynamics()`
```
Some work on system identification (submitted to IROS): https://arxiv.org/abs/2404.07837
TL:DR: estimated to be a first-order time constant of around 72ms
In the learning to fly paper it was assumed much higher (150ms) based on some prior work and not so accurate reading from bitcraze's step response
```
- [ ] Replace `rpy` with quaternions (and `ang_vel` with body rates) by editing `BaseAviary._updateAndStoreKinematicInformation()`, `BaseAviary._getDroneStateVector()`, and the `.computeObs()` methods of relevant subclasses

## Troubleshooting
Expand Down
Loading