UAV toolbox support package for PX4: Calibration slow due to custom flight algorithm
조회 수: 1(최근 30일)
I developed my custom flight algorithm(position controller and attitude controller), and uploaded it using default startup script(rcS.txt).
After that, I executed sensor calibration using QGroundControl, and it seems work well but the speed of calibration is way much slow(Take about 1minute for gyroscope calibration).
I am suspecting this symptom is because of my custom flight controller which is too heavy for Pixhawk Cube 2.1 board. But not sure that Controller Computing power can affect to calibration process.
Does development team have experienced this symptom? Or is it possible my controller can affect calibration process due to lack of computing power? Or if it isn't can you give some candidate that I can figure out why calibration is too slow?
Arun Mathamkode 2021년 11월 30일
To confirm whether the custom app from Simulink (px4_simulink_app) is causing the slowness in calibration, you can try stopping the custom app before trying the calibration. You can use 'px4_simulink_app stop' command in QGC MAVLink Console to stop the custom app.
If you are seeing a performance improvement, may be you are right, the custom flight controller might be very heavy. By default, all the controller logic you design in your Simulink model will be start running as soon as the Simulink custom app starts. You can consider modelling the controllers such that basd on arming status the controller actions are kicking in. You may need to use additional modelling ( Conditionally Executed Subsystems ) for the same.