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


.. cssclass:: properties morse-section

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)


.. cssclass:: fields morse-section

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:*

- :tag:`ros`  as `std_msgs/Float32MultiArray <http://ros.org/doc/api/std_msgs/html/msg/Float32MultiArray.html>`_ (:py:mod:`morse.middleware.ros.quadrotor_dynamic.QuadrotorDynamicReader`)
- :tag:`socket`  as straight JSON deserialization (:py:mod:`morse.middleware.socket_datastream.SocketReader`)
- :tag:`yarp`  as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpReader`)


.. cssclass:: services morse-section

Services for Quadrotor dynamic controller
-----------------------------------------

- ``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 

- ``get_configurations()`` (blocking)
    Returns the configurations of a component (parsed from the properties).
    
    
  - Return value

    a dictionary of the current component's configurations  



.. cssclass:: examples morse-section

Examples
--------


The following examples show how to use this component in a *Builder* script:

.. code-block:: python


    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')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/actuators/quadrotor_dynamic_control.html>`_
- `Unit-test <../../_modules/base/quadrotor_dynamic_control_testing.html>`_




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