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.
Blender: $MORSE_ROOT/data/actuators/stabilized_quadrotor.blend
Python:
- $MORSE_ROOT/src/morse/actuators/stabilized_quadrotor.py
- $MORSE_ROOT/src/morse/helpers/filt2.py
- 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.