Cascaded PID controller
Steps:
- Position PID to calculate desired velocity.
- Velocity PID to calculate desired force.
- V_desired = PID(P_desired-P_measured)
- F_des = PID(V_desired-V_measured)
- G*T=F_des
[6x8] [8x1]=[6x1]
G is full-rank:
- T = G^+ F_des
Use published T200 data to map T -> U where U is pwm required for the desired thrust.
Might want a QP optimizer here for T?
min T (G*T - F)^2 s.t. T_min <= T <= T_max
@Hermanoid thoughts?
Cascaded PID controller
Steps:
[6x8] [8x1]=[6x1]
G is full-rank:
Use published T200 data to map T -> U where U is pwm required for the desired thrust.
Might want a QP optimizer here for T?
min T (G*T - F)^2 s.t. T_min <= T <= T_max
@Hermanoid thoughts?