RotorcraftMixing - Revision history

Flixr: /* IPython/Numpy */

2015-07-09T21:09:48Z

IPython/Numpy

← Older revision		Revision as of 15:09, 9 July 2015
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	== IPython/Numpy ==		== IPython/Numpy ==
	'''The [https://github.com/paparazzi/paparazzi/blob/master/sw/tools/motor_mixing.py sw/tools/motor_mixing.py] script in paparazzi can be used to calculate and print configurations.'''		'''The [https://github.com/paparazzi/paparazzi/blob/master/sw/tools/motor_mixing.py sw/tools/motor_mixing.py] script in paparazzi can be used to calculate and print configurations.'''
	~~However note that the script does not yet properly compute the normalization if there is no rotor on x or y axis!~~

	The above computation can be performed in a simple python script with numpy (or interactively using ipython). [http://nbviewer.ipython.org/6909831 example RotorcraftMixing.ipynb in IPython notebook viewer]		The above computation can be performed in a simple python script with numpy (or interactively using ipython). [http://nbviewer.ipython.org/6909831 example RotorcraftMixing.ipynb in IPython notebook viewer]

Flixr: add info about motor_mixing.py script that more correctly (in most cases) computes the motor mixing

2015-07-09T19:23:35Z

add info about motor_mixing.py script that more correctly (in most cases) computes the motor mixing

← Older revision		Revision as of 13:23, 9 July 2015
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	== IPython/Numpy ==		== IPython/Numpy ==
			'''The [https://github.com/paparazzi/paparazzi/blob/master/sw/tools/motor_mixing.py sw/tools/motor_mixing.py] script in paparazzi can be used to calculate and print configurations.'''
			However note that the script does not yet properly compute the normalization if there is no rotor on x or y axis!

	The above computation can be performed in a simple python script with numpy (or interactively using ipython). [http://nbviewer.ipython.org/6909831 example RotorcraftMixing.ipynb in IPython notebook viewer]		The above computation can be performed in a simple python script with numpy (or interactively using ipython). [http://nbviewer.ipython.org/6909831 example RotorcraftMixing.ipynb in IPython notebook viewer]

Flixr: replace supervision by motor_mixing

2014-06-02T09:43:37Z

replace supervision by motor_mixing

← Older revision		Revision as of 03:43, 2 June 2014
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	<pre>		<pre>
	<section name="~~SUPERVISION~~" prefix="~~SUPERVISION_~~">		<section name="MIXING" prefix="MOTOR_MIXING_">
	<define name="~~MIN_MOTOR" value="3"/>~~		<define name="TRIM_ROLL" value="0"/>
	~~<define name="MAX_MOTOR" value="200"/>~~		<define name="TRIM_PITCH" value="0"/>
	~~<define name="TRIM_A~~" value="0"/>		<define name="TRIM_YAW" value="0"/>
	<define name="~~TRIM_E~~" value="0"/>
	<define name="~~TRIM_R~~" value="0"/>
	<define name="NB_MOTOR" value="6"/>		<define name="NB_MOTOR" value="6"/>
	<define name="SCALE" value="256"/>		<define name="SCALE" value="256"/>

Flixr: example calculation with ipython/numpy

2013-10-09T23:05:33Z

example calculation with ipython/numpy

@@ Line 145: / Line 145: @@
    </section>
 </pre>
 The above computation can be performed using the following simple octave script (sudo apt-get install octave3.2)

Jkg: typo

2013-10-09T21:04:24Z

typo

← Older revision		Revision as of 15:04, 9 October 2013
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	</math>		</math>

	The first two lines of the <math>A</math> matrix represent the coordinates of each rotor in the <math>X,Y</math> plane, and the third line the direction in which they spin. Note that in this example the Y axis is vertical, and the Y coordinates are in the top row of <math>A</math>.		The first two lines of the <math>A</math> matrix represent the coordinates of each rotor in the <math>X,Y</math> plane, and the third line the direction in which they spin. Note that in this example the X axis is vertical, and the Y coordinates are in the top row of <math>A</math>.

	<math>		<math>

Jkg: clarified axes for example

2013-10-09T21:03:48Z

clarified axes for example

← Older revision		Revision as of 15:03, 9 October 2013
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	</math>		</math>

	The first two lines of the <math>A</math> matrix represent the coordinates of each rotor in the <math>X,Y</math> ~~plan~~, and the third line the direction in which they spin.		The first two lines of the <math>A</math> matrix represent the coordinates of each rotor in the <math>X,Y</math> plane, and the third line the direction in which they spin. Note that in this example the Y axis is vertical, and the Y coordinates are in the top row of <math>A</math>.

	<math>		<math>

Jkg: fixed signs of first row of matrix A code to correspond to pretty-printed A values; added absolute value to max function to handle case where longest motor arm is negative

2013-10-09T20:53:28Z

fixed signs of first row of matrix A code to correspond to pretty-printed A values; added absolute value to max function to handle case where longest motor arm is negative

← Older revision		Revision as of 14:53, 9 October 2013
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	<pre>		<pre>
	A = [		A = [
	0.17 -0.17 0.25 -0.25 0.33 -0.33		-0.17 0.17 -0.25 0.25 -0.33 0.33
	-0.35 -0.35 0. 0. 0.35 0.35		-0.35 -0.35 0. 0. 0.35 0.35
	-0.1 0.1 0.1 -0.1 -0.1 0.1		-0.1 0.1 0.1 -0.1 -0.1 0.1
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	B = pinv(A)		B = pinv(A)

	m = max(B)		m = max(abs(B))

	[nrow,ncol] = size(B)		[nrow,ncol] = size(B)

Microuav: /* Example */

2011-06-23T09:47:40Z

Example

← Older revision		Revision as of 03:47, 23 June 2011
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	The above computation can be performed using the following simple octave script (sudo apt-get install octave3.2)		The above computation can be performed using the following simple octave script (sudo apt-get install octave3.2)
			octave
			copy the flowing commands in the terminal: (ncol is the number of col from matrix B. in this example = 3 )
			exit

	<pre>		<pre>

Microuav: /* Example */

2011-06-23T09:41:46Z

Example

← Older revision		Revision as of 03:41, 23 June 2011
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	</pre>		</pre>

	The above computation can be performed using the following simple octave script		The above computation can be performed using the following simple octave script (sudo apt-get install octave3.2)

	<pre>		<pre>

Esden at 20:16, 10 March 2011

2011-03-10T20:16:31Z

← Older revision		Revision as of 14:16, 10 March 2011
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	</pre>		</pre>

			[[Category:Software]] [[Category:User_Documentation]]