I went through euler angles and I understood it is prone to Gimbal locks at certain angles. This worries me and might cause failure in my robot.
I learned that Axis-Angle and Rotation Matrices are safe. is there anyway to to build a PID controller using them?
What will the PID controller be doing?
instead of going into details in my robot. we can assume it is a drone.
so there will be a drift in angle and the PID shall compensate it.
For approximately level flight, Euler angles are fine. Worry about the singularity problem in situations where you might encounter it.
Or, use a quaternion to represent the orientation.
do you know how quaternions can be used for PID controller?
any github code will be highly appreciated.
One approach for nearly level flight is to extract Euler angles from the quaternion, and use separate PID loops to stabilize pitch and roll.
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