Quadrotor dynamic controller¶
Motion controller computing dynamic from propellers speed
This actuator reads speed of the four motors of the quadrotor, and computes the resulting force / moment, following the dynamic model proposed in:
- Backstepping and Sliding-mode Technique Applied to an Indoor Micro Quadrotor
- Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)
The actuator assumes that first and third properlers turns clockwise, while second and fourth turns counter-clockwise
Configuration parameters for Quadrotor dynamic controller¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
ThrustFactor
(float, default:9.169e-06
)- thrust factor, in Ns²
DragFactor
(float, default:2.4e-07
)- drag factor in Nms
Lever
(distance between center of mass and propeller, in m, default:0.18
)- (no documentation available yet)
Configuration
(A character between [‘+’, ‘x’], ‘+’ denoting a configuration where the drone X-axis follows the front axle, while ‘x’ denoting a configuration where the X-axis of the drone is between the two front arm of the drone, default:"+"
)- (no documentation available yet)
Data fields¶
This actuator reads these datafields at each simulation step:
engines
(vec4<float>, initial value:[0.0, 0.0, 0.0, 0.0]
)- speed of each engines, in rad/s
Interface support:
ros
as std_msgs/Float32MultiArray (morse.middleware.ros.quadrotor_dynamic.QuadrotorDynamicReader
)socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)
Services for Quadrotor dynamic controller¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the actuator
quadrotordynamiccontrol = QuadrotorDynamicControl()
# place your component at the correct location
quadrotordynamiccontrol.translate(<x>, <y>, <z>)
quadrotordynamiccontrol.rotate(<rx>, <ry>, <rz>)
robot.append(quadrotordynamiccontrol)
# define one or several communication interface, like 'socket'
quadrotordynamiccontrol.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.quadrotor_dynamic_control.)