Difference between revisions of "DevGuide/BoozDesign"
From PaparazziUAV
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| Line 36: | Line 36: | ||
AHRS -> "stabilization attitude" | AHRS -> "stabilization attitude" | ||
| − | "stabilization attitude" -> supervision->actuators | + | "stabilization attitude" -> supervision [label="roll,pitch,yaw commands"] |
| − | guidance_v -> supervision | + | supervision->actuators |
| − | + | guidance_v -> supervision [label="thrust command"] | |
| − | navigation -> guidance_v | + | guidance_h -> "stabilization attitude" [label="euler"] |
| + | navigation -> guidance_h [label=carrot] | ||
| + | navigation -> guidance_v [label=alt] | ||
} | } | ||
</graphviz> | </graphviz> | ||
| + | |||
| + | == ReDesign == | ||
| + | input and control loops | ||
<graphviz border='frame' format='svg'> | <graphviz border='frame' format='svg'> | ||
digraph G { | digraph G { | ||
| + | compound=true | ||
| + | nodesep="0.5" | ||
node [shape=box] | node [shape=box] | ||
| − | autopilot -> guidance -> stabilization -> supervision -> actuators | + | autopilot -> navigation -> guidance |
| − | RC | + | guidance -> stabilization [label="quat"] |
| − | + | stabilization -> supervision | |
| + | supervision -> actuators | ||
| + | |||
| + | input [shape=Mrecord,label="<input> input | {<rc> RC | <fms> FMS |<test> test\ signal}"] | ||
| + | {rank=same input autopilot} | ||
| + | autopilot -> input [label="quat", ltail=cluster_input, dir= back] | ||
| + | autopilot -> stabilization [label="quat"] | ||
} | } | ||
</graphviz> | </graphviz> | ||
| − | |||
| − | |||
| − | |||
=== Use Cases === | === Use Cases === | ||
| − | * Interface on Navigation, Guidance and | + | * Interface on Navigation, Guidance, Stabilization and Supervision level |
* Overlay of different inputs | * Overlay of different inputs | ||
** RC over Guidance and Nav | ** RC over Guidance and Nav | ||
Revision as of 05:38, 21 September 2009
Here we want to collect our thoughts on the re-design of the booz airborne code.
Current Status
The ImageMap extension is not installed.
ReDesign
input and control loops
The ImageMap extension is not installed.
Use Cases
- Interface on Navigation, Guidance, Stabilization and Supervision level
- Overlay of different inputs
- RC over Guidance and Nav
- FMS over RC (e.g. test signal)
- Air-to-Air communication
