Feedback linearization #646
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Member
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i need to get to testing this more |
Author
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I will write up instructions/formulas for calculating the inertia and torque parameters. You will need to have a current sensor on your quad and perform a hover test to find out the current draw at hover. |
Delete text file. To be replace with .md file
finalized the procedure for calculating the parameters including equations and descriptions of all the variables. Should be good enough for testing.
Author
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I forgot to add in the new documentation. You need to multiply all the calculated parameters by 100 for the settings in the software ie. 1.46 -> 146 |
nerdCopter
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help wanted
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This is the initial pull request for the feedback linearization feature.