Difference between revisions of "DevGuide/BoozDesign"

Revision as of 11:48, 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

Example of input and control loops for navigation mode with RC command overlay on guidance.

The ImageMap extension is not installed.