Difference between revisions of "Booz"

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== Simulator ==
== Running a simulator : quick start guide ==


=== Flight dynamic model ===
* Extract a copy of paparazzi3 svn
  svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3


in files : sw/simulator/booz_flight_model.c
* Install all required dependancies
apt-get install paparazzi-dev


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 ====
* Compile JSBSIM
Motor dynamics is simulated.
  cvs co :pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim
modelisation by a Riccati equation :
  cd JSBSim
  ./configure --enable-maintainer-mode --enable-compile-warnings --enable-libraries --enable-shared --prefix=/opt/jsbsim
  make
  sudo make install


<math>\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V</math>
here is a patch to silent warnings
 
=== 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 ==

Revision as of 10:52, 24 July 2009

Overview

<graphviz border='frame' format='svg'> digraph G { 

 "attitude filter" [
   URL="Booz#Attitude_Filter"
   fontcolor=blue
 ]
 "actuators" [
   URL="Booz#Motor controllers"
   fontcolor=blue
 ]
 "supervision" [
   URL="Booz#Supervision"
   fontcolor=blue
 ]
 IMU->"attitude filter"
 "attitude filter"->"stabilization attitude" [label="filter_att_aligned[]"]
 "stabilization attitude"->supervision->actuators
 aligner->"attitude filter"
 "r/c"->autopilot
 guidance_v->supervision
 nav->guidance_h->"stabilization attitude"
 nav->guidance_v
 GPS->INS->"stabilization attitude"
 GPS->guidance_h
 baro->guidance_v
 IMU->guidance_v
 autopilot->FMS->datalink
 datalink->FMS->autopilot

} </graphviz>


Running a simulator : quick start guide

  • Extract a copy of paparazzi3 svn
 svn co svn://svn.savannah.nongnu.org/paparazzi/paparazzi3/trunk paparazzi3
  • Install all required dependancies
apt-get install paparazzi-dev


  • Compile JSBSIM
 cvs co :pserver:anonymous@jsbsim.cvs.sourceforge.net:/cvsroot/jsbsim
 cd JSBSim
 ./configure --enable-maintainer-mode --enable-compile-warnings --enable-libraries --enable-shared --prefix=/opt/jsbsim
 make
 sudo make install

here is a patch to silent warnings

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