Difference between revisions of "DevGuide/BoozDesign"

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m (Autopilot)
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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.
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== 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
 
 
=== Requirements ===
 
  
 
=== 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....
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=== Interfaces ===
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'''navigation'''
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* interface here needed at all?
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'''guidance'''
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* pos setpoint in LTP
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* speed setpoint in LTP ?
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'''stabilization'''
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* quaternion fixed point
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* quaternion float
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'''supervision'''
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* 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:

  1. 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.
  2. 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.