What is the nature of DesiredAngle.set(AG_ROLL, phi_d) API supposed to be? Should it control the motors so that the roll angle reaches phi_d? If that is the case, then for some reason, my Pluto is not responding to it. If not, how can I directly control the roll angle, with or without the inbuilt control system?
HI,
Desiredangle.set will set the desired angle which goes in as input to internal PID of the system. One thing we need to understand is in order for this command to work, we need to ensure that the plutoloop is running at 3.5ms and not 100ms(default). You can find the API in the reference. This is due to the fact that, the internal loop runs at 3.5 ms. Also we need to ensure that you are not using any print commands in plutoloop at this(3.5ms) loop frequency, as the system cannot handle print at such low loop times.
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