Feedback linearization #646
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i need to get to testing this more |
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I will write up instructions/formulas for calculating the inertia and torque parameters. You will need to have a current sensor on your quad and perform a hover test to find out the current draw at hover. |
Delete text file. To be replace with .md file
finalized the procedure for calculating the parameters including equations and descriptions of all the variables. Should be good enough for testing.
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I forgot to add in the new documentation. You need to multiply all the calculated parameters by 100 for the settings in the software ie. 1.46 -> 146 |
nerdCopter
added
help wanted
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This is the initial pull request for the feedback linearization feature.