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Add Lissajous curves as reference trajectory #188

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Jaeyoung-Lim opened this issue Jul 20, 2021 · 4 comments
Open

Add Lissajous curves as reference trajectory #188

Jaeyoung-Lim opened this issue Jul 20, 2021 · 4 comments
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enhancement New feature or request

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@Jaeyoung-Lim
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Jaeyoung-Lim commented Jul 20, 2021 •
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Problem Description
Add a Lissajous reference trajectory so that the we can excite all axis of the vehicle for control inputs

image
From: [1]

The lissajous trajectory has been used for system identifcation for multirotors in a number of papers now:

  • [1] Böhm, Christoph, Martin Scheiber, and Stephan Weiss. "Filter-Based Online System-Parameter Estimation for Multicopter UAVs.", Robotic Science and Systems, 2021
@Jaeyoung-Lim Jaeyoung-Lim added the enhancement New feature or request label Jul 20, 2021
@Jaeyoung-Lim Jaeyoung-Lim mentioned this issue Sep 12, 2021
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@mzahana
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mzahana commented Sep 13, 2021

@Jaeyoung-Lim I am wondering how you intend to use this trajectory? Are you doing system identification?

@Jaeyoung-Lim
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@mzahana Yes, this will be presented in the PX4 Dev summit

@mzahana
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mzahana commented Sep 13, 2021

@Jaeyoung-Lim which session?

@Jaeyoung-Lim
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@mzahana This would be included in this talk: https://px4summit2021.sched.com/event/m8VY/a-pipeline-for-data-driven-dynamics-modelling-for-uavs-using-flight-logs-manuel-galliker-eth-zurich

@brunopinto900 brunopinto900 mentioned this issue Feb 21, 2022
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Generate lissajous trajectories for system excitation Jaeyoung-Lim/mavros_controllers
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@Jaeyoung-Lim @mzahana