Difference between revisions of "Booz"
From PaparazziUAV
| Line 1: | Line 1: | ||
== Simulator == | == Simulator == | ||
| − | === Flight model === | + | === Flight dynamic model === |
| − | in | + | in files : sw/simulator/booz_flight_model.c |
| + | Hover point hypothesis is assumed, ie each rotor only produces a force normal to the rotor | ||
| + | and a moment along the same axis, both proportional to the square of the prop rotational speed. | ||
| + | |||
| + | ==== Rotors dynamic ==== | ||
Motor dynamics is simulated. | Motor dynamics is simulated. | ||
modelisation by a Riccati equation : | modelisation by a Riccati equation : | ||
| Line 10: | Line 14: | ||
<math>\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V</math> | <math>\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V</math> | ||
| − | + | === Sensors model === | |
| − | |||
| + | in files : sw/simulator/booz_sensors_model.c | ||
Revision as of 13:00, 29 February 2008
Contents
Simulator
Flight dynamic model
in files : sw/simulator/booz_flight_model.c
Hover point hypothesis is assumed, ie each rotor only produces a force normal to the rotor and a moment along the same axis, both proportional to the square of the prop rotational speed.
Rotors dynamic
Motor dynamics is simulated. modelisation by a Riccati equation :
Sensors model
in files : sw/simulator/booz_sensors_model.c
Display
can use flightgear as a 3D display
example command line :
fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --aircraft=bo105
Associated command line options for the simulator : --fg_host and --fg_port
Interactive control
The radio control can be replaced by a joystick.
the joystick device can be specified with the --js_dev option
