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.
No configurable parameter.
This actuator reads these datafields at each simulation step:
Commands the pitch of the quadrotor. It is directly related to the quadrotor acceleration on the x axis.
Commands the roll of the quadrotor. It is directly related to the quadrotor acceleration on the y axis.
Commands the yaw of the quadrotor.
Commands the z of the quadrotor.
Interface support:
Specify a consign for the robot. It has the same effect that writing the corresponding constraint in the datastream.
Returns the properties of a component.
Return value
a dictionary of the current component’s properties
Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Stop the robot. It basically means that speed on the different axis is set to 0. Moreover, the different filters are reset.
The following examples show 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(stabilizedquadrotor)
# define one or several communication interface, like 'socket'
stabilizedquadrotor.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.actuators.stabilized_quadrotor.)