PaparazziUAV - User contributions [en]

User talk:Jouvencel

2013-08-08T06:33:17Z

Jouvencel: Blanked the page

User:Jouvencel

2013-08-08T06:32:18Z

Jouvencel: /* Control command based of quaternions */

== Control command based of quaternions ==

Files :

- stabilization_attitude_quat_int.c (.h)

- stabilization_attitude_ref_quat_int.c (.h)

- quat_setpoint_int.c (.h)

* Position in the autopilot structure

[[File:fiche1.jpg]]

* Control structure
[[File:fiche2.jpg]]

note : (<math>2^{''N''}</math>) number of decimals for integer calculus

* Comments

- "stab_att_sp_quat (15)" attitude to reach

- "stab_att_ref_accel(12)", "stab_att_ref_rate(16)","stab_att_ref_quat(15)" references défined by two order model

- stabilization_cmd[X] (X=ROLL, PITCH, YAW) commands défined by a feedforward part and feedback part, feedback part is based on PID

- quaternions define the orientation of rotorcraft,

- the error between the quat_sp and the quat_ref is computed by a quaternion product,

- the dot_quaternion is computed by the formula <math>\frac{1}{2} M_s(p,q,r) Q</math>

- The second order model :

-- Integrates accelerate to obtain "stab_att_ref_rate" by the Euler method

-- Integrates rate to obtain "stab_att_ref_quat" by the Euler method

-- The Euler method uses dt. Here dt is implicite and equal 1/512 or <math>2^9</math>,

-- Determines the stab_att_ref_accel(12) by a second order <math>\frac{\Omega^2}{s^2+2 \Zeta \Omega s + \Omega^2}</math> with <math>\Omega = 200*\pi/180</math> and <math>\Zeta = 0.9</math>.<math>\Omega </math> and <math>\Zeta </math> are defined in airframe.xml.

* The second order

[[File:fiche3.jpg]]

* Feedforward part

[[File:fiche4.jpg]]

*Feedback part

[[File:fiche5.jpg]]

* Comments

With the assumption of small variations so <math>sin(\phi) = \phi</math> and so on for pitch and yaw, terms of second order are ignored :

- <math>q_e = 1</math>

- <math>q_x = \psi/2 - \theta/2 * \phi/2 = \psi/2 </math>

- <math>q_y = \theta/2 - \psi/2 *\phi/2 = \theta/2 </math>

- <math>q_z = \phi/2 - \theta/2 * \psi/2 = \phi/2 </math>

User:Jouvencel

2013-08-06T10:18:53Z

Jouvencel:

== Control command based of quaternions ==

Files :

- stabilization_attitude_quat_int.c (.h)

- stabilization_attitude_ref_quat_int.c (.h)

- quat_setpoint_int.c (.h)

* Position in the autopilot structure

[[File:fiche1.jpg]]

* Control structure
[[File:fiche2.jpg]]

note : (<math>2^{''N''}</math>) number of decimals for integer calculus

* Comments

- "stab_att_sp_quat (15)" attitude to reach

- "stab_att_ref_accel(12)", "stab_att_ref_rate(16)","stab_att_ref_quat(15)" references défined by two order model

- stabilization_cmd[X] (X=ROLL, PITCH, YAW) commands défined by a feedforward part and feedback part, feedback part is based on PID

- quaternions define the orientation of rotorcraft,

- the error between the quat_sp and the quat_ref is computed by a quaternion product,

- the dot_quaternion is computed by the formula <math>\frac{1}{2} M_s(p,q,r) Q</math>

- The second order model :

-- Computes integrated accelerate to obtain "stab_att_ref_rate" by the Euler method

-- Computes integrated rate to obtain "stab_att_ref_quat" by the Euler method

-- The Euler method uses dt here, dt is implicite and equal 1/512 or <math>2^9</math>,

-- Determines the stab_att_ref_accel(12) by a second order <math>\frac{\Omega^2}{s^2+2 \Zeta \Omega s + \Omega^2}</math> with <math>\Omega = 200*\pi/180</math> and <math>\Zeta = 0.9</math>.<math>\Omega </math> and <math>\Zeta </math> are defined in airframe.xml.

* The second order

[[File:fiche3.jpg]]

* Feedforward part

[[File:fiche4.jpg]]

*Feedback part

[[File:fiche5.jpg]]

* Comments

With the assumption of small variations so <math>sin(\phi) = \phi</math> and so on for pitch and yaw, terms of second order are ignored :

- <math>q_e = 1</math>

- <math>q_x = \psi/2 - \theta/2 * \phi/2 = \psi/2 </math>

- <math>q_y = \theta/2 - \psi/2 *\phi/2 = \theta/2 </math>

- <math>q_z = \phi/2 - \theta/2 * \psi/2 = \phi/2 </math>

User:Jouvencel

2013-08-06T10:09:47Z

Jouvencel:

== Control command based of quaternions ==

Files :
stabilization_attitude_quat_int.c (.h)

stabilization_attitude_ref_quat_int.c (.h)

quat_setpoint_int.c (.h)

* Position in the autopilot structure

[[File:fiche1.jpg]]

* Control structure
[[File:fiche2.jpg]]

note : (<math>2^{''N''}</math>) number of decimals for integer calculus

* Comments

- "stab_att_sp_quat (15)" attitude to reach

- "stab_att_ref_accel(12)", "stab_att_ref_rate(16)","stab_att_ref_quat(15)" references défined by two order model

- stabilization_cmd[X] (X=ROLL, PITCH, YAW) commands défined by a feedforward part and feedback part, feedback part is based on PID

- quaternions define the orientation of rotorcraft,

- the error between the quat_sp and the quat_ref is computed by a quaternion product,

- the dot_quaternion is computed by the formula <math>\frac{1}{2} M_s(p,q,r) Q</math>

- The second order model :

-- Computes integrated accelerate to obtain "stab_att_ref_rate" by the Euler method

-- Computes integrated rate to obtain "stab_att_ref_quat" by the Euler method

-- The Euler method uses dt here, dt is implicite and equal 1/512 or <math>2^9</math>,

-- Determines the stab_att_ref_accel(12) by a second order <math>\frac{\Omega^2}{s^2+2 \Zeta \Omega s + \Omega^2}</math> with <math>\Omega = 200*\pi/180</math> and <math>\Zeta = 0.9</math>.<math>\Omega </math> and <math>\Zeta </math> are defined in airframe.xml.

* The second order

[[File:fiche3.jpg]]

* Feedforward part

[[File:fiche4.jpg]]

*Feedback part

[[File:fiche5.jpg]]

* Comments

With the assumption of small variations so <math>sin(\phi) = \phi</math> and so on for pitch and yaw, terms of second order are ignored :

- <math>q_e = 1</math>

- <math>q_x = \psi/2 - \theta/2 * \phi/2 = \psi/2 </math>

- <math>q_y = \theta/2 - \psi/2 *\phi/2 = \theta/2 </math>

- <math>q_z = \phi/2 - \theta/2 * \psi/2 = \phi/2 </math>

User:Jouvencel

2013-08-06T10:08:59Z

Jouvencel:

== Control command based of quaternions ==

Files :
stabilization_attitude_quat_int.c (.h)

stabilization_attitude_ref_quat_int.c (.h)

quat_setpoint_int.c (.h)

* Position in the autopilot structure

[[File:fiche1.jpg]]

* Control structure
[[File:fiche2.jpg]]

note : (<math>2^{''N''}</math>) number of decimals for integer calculus

* Comments

- "stab_att_sp_quat (15)" attitude to reach

- "stab_att_ref_accel(12)", "stab_att_ref_rate(16)","stab_att_ref_quat(15)" references défined by two order model

- stabilization_cmd[X] (X=ROLL, PITCH, YAW) commands défined by a feedforward part and feedback part, feedback part is based on PID

- quaternions define the orientation of rotorcraft,

- the error between the quat_sp and the quat_ref is computed by a quaternion product,

- the dot_quaternion is computed by the formula <math>\frac{1}{2} M_s(p,q,r) Q</math>

- The second order model :

-- Computes integrated accelerate to obtain "stab_att_ref_rate" by the Euler method

-- Computes integrated rate to obtain "stab_att_ref_quat" by the Euler method

-- The Euler method uses dt here, dt is implicite and equal 1/512 or <math>2^9</math>,

-- Determines the stab_att_ref_accel(12) by a second order <math>\frac{\Omega^2}{s^2+2 \Zeta \Omega s + \Omega^2}</math> with <math>\Omega = 200*\pi/180</math> and <math>\Zeta = 0.9</math>.<math>\Omega </math> and <math>\Zeta </math> are defined in airframe.xml.

* The second order

[[File:fiche3.jpg]]

* Feedforward part

[[File:fiche4.jpg]]

*Feedback part

[[File:fiche5.jpg]]

* Comments

With the assumption of small variations so <math>sin(\phi) = \phi</math> and so on for pitch and yaw, terms of second order are ignored :

- <math>q_e = 1</math>

- <math>q_x = \psi/2 - \theta/2 \phi/2 = \psi/2 </math>

- <math>q_y = \theta/2 - \psi/2 \phi/2 = \theta/2 </math>

- <math>q_z = \phi/2 - \theta/2 \psi/2 = \phi/2 </math>

File:Fiche5.jpg

2013-08-06T10:08:04Z

Jouvencel:

File:Fiche4.jpg

2013-08-06T10:05:56Z

Jouvencel: uploaded a new version of "File:Fiche4.jpg"

File:Fiche4.jpg

2013-08-06T10:03:59Z

Jouvencel:

File:Fiche3.jpg

2013-08-06T09:57:40Z

Jouvencel: uploaded a new version of "File:Fiche3.jpg"

second_order for quat_ref

File:Fiche3.jpg

2013-08-06T09:55:54Z

Jouvencel: uploaded a new version of "File:Fiche3.jpg": second_order for quat_ref

second_order for quat_ref

File:Fiche3.jpg

2013-08-06T09:51:21Z

Jouvencel: second_order for quat_ref

second_order for quat_ref

User:Jouvencel

2013-08-06T09:50:13Z

Jouvencel:

2013-06-10T18:27:11Z

Jouvencel:

Create a control subsystem

I would want to write a control system for a rotorcraft. I understand the general structure of paparazzi and the way to introduce a new subsystem or module. But how determine necessary variables to interface my programs with the functions of paparazzi.
I can read each function but it's not very easy. Have you got a solution?

thanks