User: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
- Control structure
note : (Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle 2^{''N''}} ) 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 Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \frac{1}{2} M_s(p,q,r) Q}
- 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 Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle 2^9} ,
-- Determines the stab_att_ref_accel(12) by a second order Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \frac{\Omega^2}{s^2+2 \Zeta \Omega s + \Omega^2}} with Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \Omega = 200*\pi/180} and Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \Zeta = 0.9} .Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \Omega } and Failed to parse (Conversion error. Server ("https://wikimedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle \mathrm {Z} } are defined in airframe.xml.
- The second order
