[WIP] lqr controller #19079
[WIP] lqr controller #19079
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| * Copyright (c) 2018 - 2019 PX4 Development Team. All rights reserved. | |||
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| * Copyright (c) 2018 - 2019 PX4 Development Team. All rights reserved. | |
| * Copyright (c) 2022 PX4 Development Team. All rights reserved. |
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| px4_add_library(Takeoff | ||
| Takeoff.cpp |
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Is this a direct copy of the existing takeoff helper? If so we can move it under lib and rename to mc_takeoff or something.
| add_subdirectory(Takeoff) | ||
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| px4_add_module( | ||
| MODULE modules__mc_lqr_control |
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Maybe include something in the name to indicate it's a position controller?
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Can you add this to a board and we'll add a parameter to select which modules start at runtime? |
I'd be up for trying to properly bring in Eigen if you're interested. I think we're now in a much better position to address c++ dependency issues in NuttX. |
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@mkolodziejczyk-piap cool! Could you add more details to your PR description like what the cost function is? |
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Sorry, this is a bit rough right now. I'll provide more details today and fill missing parts |
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No need to rush 😄 |
Is there any plan for this? |
There's always been interest in PX4 community in implementing model-based controllers like LQR, but none of the efforts transformed into actual PR. This PR aims to introduce simple LQR controller for multicopters as an alternative to current PID controllers. There's no intention to replace current PID stack, rather create a reference implementation or an option for researchers. This is most basic LQR version and further enhancement will probably require at least some exteranal lib like Eigen or even a QP solver lib.