Gain matrix effect #4
Description
i implemented a simple NMPC in gazebo using your framework, when i fix the yaw, the MPC was capable of tracking a traj , but when i set the yaw along the traj, it crashed. i was wondering if this had something to do with the gain matrix, and how should i tune the matrix.
By the way, another simple question is that could you tell us the type of ESC in your experiment? and does it have to be ardupilot to get the rpm info, can PX4 does that?
Sorry for my rookie questiones, looking forward for your reply!