Change n in get_helix_waypoints does not work

[LTH14]

Hi!
I got some problem in generating the waypoints using your simulator. The default script runs well, but when I change the number of waypoints in the runsim.py (waypoints = trajGen3D.get_helix_waypoints(0, 10) for example), the quadrator does not follow the desired path and flies away. Any idea on how to solve this? Thanks a lot!

[LTH14]

BTW, previously I got issues on the numpy version. Now I am using numpy 1.16.0, scipy 1.2.1, python 3.7.0. Possibly it is because of python version or package version? Which version are you using? Thanks!

[juanmed]

Hello @LTH14

I dont think the python version you are using is an issue. The issue you are describing happens with the PID controller developed by the author. I have not dedicated time to analyze it so I cannot provide and answer on how to solve it.

In the meantime, you can try my fork where I have further developed the simulator (eliminated some problems with heading calculation, added some controllers, added graphing features...). I tried your case (10 waypoints) and did not see any strange behaviour with the PID controller.

I was supposed to be pushing changes to the original author's repo but could not do it for several reasons.

I hope this helps!

[lmmedino]

Hi, I tried using your fork, but when I run the LQR controller it does not track the trajectory well, is there anything that needs to change for LQR to work?

[lmmedino]

@juanmed just following up on this, I tried using your fork, but when I run the LQR controller it does not track the trajectory well, is there anything that needs to change for LQR to work?