User:Jouvencel - Revision history

Jouvencel: /* Control command based of quaternions */

2013-08-08T06:32:18Z

Control command based of quaternions

← Older revision		Revision as of 00:32, 8 August 2013
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	- The second order model :		- The second order model :

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

	-- ~~Computes integrated~~ rate to obtain "stab_att_ref_quat" 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>,		-- 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.		-- 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.

Jouvencel at 10:18, 6 August 2013

2013-08-06T10:18:53Z

← Older revision		Revision as of 04:18, 6 August 2013
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	Files :		Files :
	~~stabilization_attitude_quat_int.c (.h)~~

	~~stabilization_attitude_ref_quat_int~~.c (.h)		- stabilization_attitude_quat_int.c (.h)

	quat_setpoint_int.c (.h)		- stabilization_attitude_ref_quat_int.c (.h)

			- quat_setpoint_int.c (.h)

	* Position in the autopilot structure		* Position in the autopilot structure

Jouvencel at 10:09, 6 August 2013

2013-08-06T10:09:47Z

← Older revision		Revision as of 04:09, 6 August 2013
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	- <math>q_e = 1</math>		- <math>q_e = 1</math>

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


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

Jouvencel at 10:08, 6 August 2013

2013-08-06T10:08:59Z

← Older revision		Revision as of 04:08, 6 August 2013
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	[[File:fiche3.jpg]]		[[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>

Jouvencel at 09:50, 6 August 2013

2013-08-06T09:50:13Z

@@ Line 3: / Line 3: @@
 Files :
 stabilization_attitude_quat_int.c (.h)
 stabilization_attitude_ref_quat_int.c (.h)
 quat_setpoint_int.c (.h)
@@ Line 13: / Line 15: @@
 [[File:fiche2.jpg]]
-note : (<math>2^15</math> represents the number of decimals to realize the integer calculus
+note : (<math>2^{''N''}</math>)  number of decimals for integer calculus

Jouvencel: Created page with "== 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 …"

2013-08-06T09:27:14Z

Created page with "== 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 …"

New page

== 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>2^15</math> represents the number of decimals to realize the integer calculus