Booz

Overview

<graphviz border='frame' format='svg'> digraph G {

 "attitude filter" [
   URL="Booz#Attitude_Filter"
   fontcolor=blue
 ]
 "actuators" [
   URL="Booz#Motor controllers"
   fontcolor=blue
 ]
 "supervision" [
   URL="Booz#Supervision"
   fontcolor=blue
 ]
 IMU->"attitude filter"
 "attitude filter"->"stabilization attitude" [label="filter_att_aligned[]"]
 "stabilization attitude"->supervision->actuators
 aligner->"attitude filter"
 "r/c"->autopilot
 guidance_v->supervision
 nav->guidance_h->"stabilization attitude"
 nav->guidance_v
 GPS->INS->"stabilization attitude"
 GPS->guidance_h
 baro->guidance_v
 IMU->guidance_v
 autopilot->FMS->datalink
 datalink->FMS->autopilot

} </graphviz>

Simulator

Flight dynamic model

in files : sw/simulator/booz_flight_model.c

Hover point hypothesis is assumed, ie each rotor only produces a force normal to the rotor and a moment along the same axis, both proportional to the square of the prop rotational speed.

Rotors dynamic

Motor dynamics is simulated. modelisation by a Riccati equation :

${\dot {\omega }}=-{\frac {1}{\tau }}\omega -K_{Q}\omega ^{2}+{\frac {K_{V}}{\tau }}V$

Sensors model

in files : sw/simulator/booz_sensors_model.c

Display

can use flightgear as a 3D display

example command line :

fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --aircraft=bo105

Associated command line options for the simulator : --fg_host and --fg_port

Interactive control

The radio control can be replaced by a joystick.

the joystick device can be specified with the --js_dev option