Stabilized Fly for 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 of the robot.

Files

  • Blender: $MORSE_ROOT/data/actuators/stabilized_quadrotor.blend

  • Python:

    • $MORSE_ROOT/src/morse/actuators/stabilized_quadrotor.py
    • $MORSE_ROOT/src/morse/helpers/filt2.py

Local data

  • theta_c: (float) Commands the pitch of the quadrotor. It is directly

    related to the acceleration of the quadrotor on the x axis.

  • phi_c: (float) Commands the roll of the quadrotor. It is directly

    related to the acceleration of the quadrotor on the y axis.

  • psi_c: (float) Commands the theta of the quadrotor.

  • h_c: (float) The expected z of the quadrotor.

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.

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