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.
Coordinates are given with respect to the origin of Blender’s coordinate axis.
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.
Returns the properties of a component.
a dictionary of the current component’s properties
Specify a consign for the robot. It has the same effect that writing the corresponding constraint in the datastream.
Modify one property on a component
Stop the robot. It basically means that speed on the different axis is set to 0. Moreover, the different filters are reset.
Returns the configurations of a component (parsed from the properties).
a dictionary of the current component’s configurations
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 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')