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Updated documentation for control abstractions.

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spencerfolk
2023-12-14 16:17:16 -05:00
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rotorpy/controllers/README.md
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# Controller Module
The simulator is packaged with a geometric tracking controller for a quadrotor, found in `quadrotor_control.py`. Based on [this paper](https://mathweb.ucsd.edu/~mleok/pdf/LeLeMc2010_quadrotor.pdf) the controller takes flat outputs (position and yaw) and outputs a dictionary containing different control abstractions (angle, rate, motor speeds). The `Multirotor` vehicle will use the commanded motor speeds in the dynamics.
The simulator is packaged with a geometric tracking controller for a quadrotor, found in `quadrotor_control.py`. Based on [this paper](https://mathweb.ucsd.edu/~mleok/pdf/LeLeMc2010_quadrotor.pdf) the controller takes flat outputs (position and yaw) and outputs a dictionary containing different control abstractions (e.g., angle, rate, motor speeds).
Other controllers can be developed but must complement the vehicle and the trajectory it is trying to stabilize to.
Currently, the `Multirotor` object accepts the following controller inputs (abstractions):
- `cmd_motor_speeds`: the lowest control abstraction. The controller directly commands individual motor speeds.
- `cmd_motor_thrusts`: one step up, the controller commands individual thrusts for each motor.
- `cmd_ctbr`: the controller commands a collective thrust (ct) and body rates (br) on each axis.
- `cmd_ctbm`: the controller commands a collective thrust (ct) and body moments (bm) on each axis.
- `cmd_ctatt`: the controller commands a collective thrust (ct) and attitude (as a quaternion).
- `cmd_vel`: the controller commands a velocity vector in the world frame. Assumes `yaw` is 0.
For higher control abstractions, e.g. `cmd_vel` or `cmd_ctatt`, the lower level controllers are hidden in `Multirotor`. The gains for these controllers were hand-tuned for the Crazyflie parameters, so they may need tuning if a different vehicle is being used.
Other controllers can be developed but must complement the vehicle and the trajectory they are trying to stabilize to.