Quadcopter simulation unstable in Gazebo

asked 2019-09-09 03:42:13 -0500

zaccer gravatar image

updated 2019-09-10 03:17:42 -0500

Hi, I am working with ROS kinetic,Gazebo 7. Trying for simple arming and takeoff of quadcopter in gazebo simulation. When starting the simulation the quad doesn't stay stable. C:\fakepath\gazebo_1.gif

And when tried to arm the quad using /mavros/cmd/arming the props gets detached from frame.C:\fakepath\gazebo_1-2.gif

The SDF file for the quadcopter isC:\fakepath\iris.sdf

Please provide with the solution for a stable takeoff and landing.

Update:After making some changes to the model the quad stays stable upon spawning.But as I provide the takeoff command it becomes unstable and crashes. Any particular reason for this behavior? I am using PX4 flight stack with gazebo simulation and plugins available with Iris model for controlling the drone.

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Comments

to me it seems that there is something wrong with the joint controllers. Maybe extreme PID values or so, depending on what controllers you use. Another possibility is badly defined model. Too light or too heavy parts, incorrect inertia matrices? Those things are the most usual causes of unstable simulations.

kumpakri gravatar imagekumpakri ( 2019-09-09 08:34:08 -0500 )edit

Hi,I have used plugin that is available with iris model for px4,so PID values used were the same as used for iris model, also the mass of the propellers were taken to be as close to the real value as possible.that is 22 grams and the inertia matrices were calculated from a cad software in which the model was made.

zaccer gravatar imagezaccer ( 2019-09-09 08:58:51 -0500 )edit

You can also try to look through the other questions on px4. Maybe this answer holds some tips. Maybe there are some specific problems for drone simulation. I haven't try to simulate drones so I cannot help any further.

kumpakri gravatar imagekumpakri ( 2019-09-09 09:08:40 -0500 )edit

Thanks for the help.

zaccer gravatar imagezaccer ( 2019-09-09 23:17:08 -0500 )edit