Difference between revisions of "Booz"

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== Overview ==
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<graphviz border='frame' format='svg'>
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digraph G {
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  "attitude filter" [
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    URL="[[Booz#Attitude_Filter]]"
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    fontcolor=blue
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  ]
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  "actuators" [
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    URL="[[Booz#Motor controllers]]"
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    fontcolor=blue
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  ]
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  "supervision" [
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    URL="[[Booz#Supervision]]"
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    fontcolor=blue
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  ]
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  IMU->"attitude filter"
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  "attitude filter"->"stabilization attitude" [label="filter_att_aligned[]"]
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  "stabilization attitude"->supervision->actuators
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  aligner->"attitude filter"
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  "r/c"->autopilot
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  guidance_v->supervision
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  nav->guidance_h->"stabilization attitude"
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  nav->guidance_v
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  GPS->INS->"stabilization attitude"
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  GPS->guidance_h
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  baro->guidance_v
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  IMU->guidance_v
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  autopilot->FMS->datalink
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  datalink->FMS->autopilot
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}
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</graphviz>
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 +
 
== Simulator ==
 
== Simulator ==
  
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== Attitude Filter ==
 
== Attitude Filter ==
  
 
+
== Supervision ==
  
 
== Motor controllers ==
 
== Motor controllers ==

Revision as of 05:56, 15 December 2008

Overview

The ImageMap extension is not installed.


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 :

\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V

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

Attitude Filter

Supervision

Motor controllers