Difference between revisions of "DevGuide/BoozDesign"
From PaparazziUAV
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Here we want to collect our thoughts on the re-design of the booz airborne code. | Here we want to collect our thoughts on the re-design of the booz airborne code. | ||
| + | |||
| + | == brain storm == | ||
=== Use Cases === | === Use Cases === | ||
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** FMS over RC (e.g. test signal) | ** FMS over RC (e.g. test signal) | ||
* Limit max. throttle with RC | * Limit max. throttle with RC | ||
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=== Autopilot === | === Autopilot === | ||
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#Every mode belongs to a certain priority level. If an event requests a new mode with a higher priority than the current mode it is switched to the new mode.<br>Better suited for a lot of different modes which can be grouped into priority levels. | #Every mode belongs to a certain priority level. If an event requests a new mode with a higher priority than the current mode it is switched to the new mode.<br>Better suited for a lot of different modes which can be grouped into priority levels. | ||
#Every event has a condition (current mode) and associated requested mode (or multiple conditions). If the condition matches the current mode the autopilot will switch to the new mode.<br>e.g. '''Event:''' GPS lost '''Condition:''' Nav mode '''ReqMode:''' Failsafe<br>This will get tedious with a lot of modes.... | #Every event has a condition (current mode) and associated requested mode (or multiple conditions). If the condition matches the current mode the autopilot will switch to the new mode.<br>e.g. '''Event:''' GPS lost '''Condition:''' Nav mode '''ReqMode:''' Failsafe<br>This will get tedious with a lot of modes.... | ||
| + | |||
| + | === Interfaces === | ||
| + | |||
| + | '''navigation''' | ||
| + | * interface here needed at all? | ||
| + | |||
| + | '''guidance''' | ||
| + | * pos setpoint in LTP | ||
| + | * speed setpoint in LTP ? | ||
| + | |||
| + | '''stabilization''' | ||
| + | * quaternion fixed point | ||
| + | * quaternion float | ||
| + | |||
| + | '''supervision''' | ||
| + | * roll, pitch, yaw and thrust command. unit? limit? | ||
== Current Status == | == Current Status == | ||
Revision as of 10:16, 21 September 2009
Here we want to collect our thoughts on the re-design of the booz airborne code.
brain storm
Use Cases
- Interface on Navigation, Guidance, Stabilization and Supervision level
- Priority system
- priority of RC to switch to manual
- Overlay of different inputs
- RC over Guidance
- FMS over RC (e.g. test signal)
- Limit max. throttle with RC
Autopilot
Describe modules (nav, guidance, stabilization, etc.) as xml with in and outputs. A mode is a specific connection of modules. Events can change the mode.
Events:
- Mode change from RC
- RC lost
- goto Home
- datalink lost
- GPS lost
- if in Nav goto failsafe
- outside zone
- battery low
possible priority systems:
- Every mode belongs to a certain priority level. If an event requests a new mode with a higher priority than the current mode it is switched to the new mode.
Better suited for a lot of different modes which can be grouped into priority levels. - Every event has a condition (current mode) and associated requested mode (or multiple conditions). If the condition matches the current mode the autopilot will switch to the new mode.
e.g. Event: GPS lost Condition: Nav mode ReqMode: Failsafe
This will get tedious with a lot of modes....
Interfaces
navigation
- interface here needed at all?
guidance
- pos setpoint in LTP
- speed setpoint in LTP ?
stabilization
- quaternion fixed point
- quaternion float
supervision
- roll, pitch, yaw and thrust command. unit? limit?
Current Status
The ImageMap extension is not installed.
ReDesign
input and control loops
The ImageMap extension is not installed.
