Question about Dynamic System Identification

[himanshu-erol]

Hello,

I have been trying to follow your tutorial and its really great! Thanks for sharing everything in a well documented manner. I have read the issue posted by @wqwanghanzhang and I think I have similar questions related to “Dynamic System Identification (via VirtualRC)”.
Although you have decribed the procedure in detail but I was not able to figure out some things, like the steps require the use of the previous SDK (ethz-asl/dji_onboard_sdk_ros), on which I think you are not working now and the latest version (ethz-asl/mav_dji_ros_interface) directly uses those params. I know you wanted to keep this version as consize as possible, so you removed those stuff.

I needed to do this since my configuration is a bit different. I am using Matrice100 with NVIDIA jetson TX2 and a different camera. So is it fine if I am using your older SDK just for performing Dynamic system Identification? as I am still facing some issues.

These are some things that I have tried,

• Following the given steps, I am able to take control over the matrice100 though joystick. Testing without props seems fine and the change in corresponding rotor speeds can be seen on changing pitch and roll from joystick.
• But when trying with props, when given a little thrust, the quad starts to gain height but keeps drifting in one direction. Also changing roll and pitch values from joystick doesn’t help much to stabilize the quadrotor. Even after landing it and releasing controls from joystick, the quad behaves erratically until I stop the script and give control back to the remote control.
  (Although I have no problem in flying quadrotor manually and it looks quite stabilized.)

While debugging it,

• I tried to look for any discrepancies in “/dji_sdk/vc_cmd” and “/joy” topics by comparing it to one of your rosbags but the values seem to be well in range with correct offset and appropriate directions.
• Also the imu readings from the quad look fine.

I have tried hovering and step response experiment with your calibration settings, although its able to fly but I think the system parameters need to be tuned.
Can you suggest any thing that I can try or might be doing wrong?

[yesterday2]

Are you as concerned as we are about rebuilding this open source project, but we've had some problems with the step response experiments that follow the github tutorial https://github.com/ethz-asl/mav_dji_ros_interface/wiki/First-Autonomous-Flight%3A-Hover-and-Step-Response . Can you provide your E-mail ? , I have some questions to ask. please