DevGuide/BoozDesign

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?

ReDesign

input and control loops