Stabilized Flight for quadrotor

Motion controller using linear model of a stabilized quadrotor

This actuator controls a stabilized quadrotor using a linear model. Basically, it reads a command (phi, theta, psi, h), and computes, using a second order filter the speed and the position of the robot. The quadrotor must not have Rigid Body physics.

Note

Coordinates are given with respect to the origin of Blender’s coordinate axis.

Note

The actuator does not consider friction force. Setting theta_c or phi_c to 0 leads to a constant speed on axis x or y.

Configuration parameters for stabilized flight for quadrotor

No configurable parameter.

Data fields

This actuator reads these datafields at each simulation step:

  • theta_c (float, initial value: 0.0)

    Commands the pitch of the quadrotor. It is directly related to the quadrotor acceleration on the x axis.

  • phi_c (float, initial value: 0.0)

    Commands the roll of the quadrotor. It is directly related to the quadrotor acceleration on the y axis.

  • psi_c (float, initial value: 0.0)

    Commands the yaw of the quadrotor.

  • h_c (float, initial value: 0.0)

    Commands the z of the quadrotor.

Interface support:

Services for Stabilized Flight for quadrotor

  • set_cons(phi, theta, psi, h) (blocking)

    Specify a consign for the robot. It has the same effect that writing the corresponding constraint in the datastream.

    • Parameters
      • phi: commands the roll of the quadrotor
      • theta: command the pitch of the quadrotor
      • psi: command the yaw of the quadrotor
      • h: the expected height for the quadrotor.
  • stop() (blocking)

    Stop the robot. It basically means that speed on the different axis is set to 0. Moreover, the different filters are reset.

Examples

The following example shows how to use this component in a Builder script:

from morse.builder import *

robot = ATRV()

# creates a new instance of the actuator
stabilizedquadrotor = StabilizedQuadrotor()

# place your component at the correct location
stabilizedquadrotor.translate(<x>, <y>, <z>)
stabilizedquadrotor.rotate(<rx>, <ry>, <rz>)

robot.append(%(var)s)

# define one or several communication interface, like 'socket'
stabilizedquadrotor.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.actuators.stabilized_quadrotor.)