Passing duration to go_to service

[vihaan211005]

While passing a duration to the go_to service (with interface crazyflie_interfaces/srv/GoTo, we noticed that the drone overshoots the expected goal, by quite a lot for large distances. How do we set an appropriate duration to minimise this overshoot?

[ArisMorgens]

Hello vihaan!

I am assuming that your problem is similar to this issue.
As you can see here, we have added a warning to our high level commander documentation regarding an error with overlapping go_to commands. The problem results from the fact that the the generated trajectories are polynomials which can take unexpected routes and have high peaks.

To set an appropriate duration for each go_to command, I would recommend to deal with every motion as if it had a constant velocity. By setting a global mean velocity $V_m$, you can calculate the duration of each command as: $t = d/V_m$, where $d$ is the distance that the drone has to travel. Obviously, the velocity is not really constant during the execution of a go_to command but this helps avoiding high velocity peaks which can lead to instabilities and large overshoots.

Let us know if this is the case with your issue and don't hesitate to reach out for further help.