Small Unmanned Aircraft: Theory and Practice

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project [2019/01/23 09:55]
beard
project [2019/06/12 09:53] (current)
beard
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 ==== Github repository ==== ==== Github repository ====
-We are currently revising the template files and putting them under revision control at the following github repository:+The template files for Simulink, Matlab OOP, and Python are available at the following github repository:
  
 https://github.com/randybeard/mavsim_template_files https://github.com/randybeard/mavsim_template_files
  
 ==== Chapter 2 - Coordinate Frames ==== ==== Chapter 2 - Coordinate Frames ====
 +[[http://youtu.be/LgiHUznfP_4|YouTube video showing solution for Chapter 2.]]
  
- 
-{{:project:animation.zip|}} 
-  * updated 9/10/2014.  Animation of zagi-like vehicle.  Vertices are inside draw function. 
- 
-[[http://youtu.be/LgiHUznfP_4|YouTube video showing solution for Chapter 2.]] 
 ==== Chapter 3 - Kinematics and Dynamics ==== ==== Chapter 3 - Kinematics and Dynamics ====
 +[[http://youtu.be/KCoRO-G-VPg|YouTube video showing solution for Chapter 3.]]
  
- 
-{{:project:chap3_kinematics.zip|}}:  Contains the following files: 
- 
-  * //airdata.m// - simulates computation of airdata - will be replaced 
-  * //tv.jpg// - graphic file of TV 
-  * //plotmavstatevariables.m// - file that produces plots of all state variables 
-  * //mavsim_chap3.slx// - Simulink file for chapter 3 assignment 
-  * //mav_dynamics.m// - template file for mav_dynamics.m  
-  * //param_chap3.m// - template file for param.m  
- 
-Updated 9/10/2014 to Simulink 2014a.  A few improvements. 
- 
-[[http://youtu.be/KCoRO-G-VPg|YouTube video showing solution for Chapter 3.]] 
 ==== Chapter 4 - Forces and Moments ==== ==== Chapter 4 - Forces and Moments ====
- 
- 
-{{:project:chap4_forces.zip|}}:  Contains the following files: 
- 
-  * //mavsim_chap4.slx// - Simulink file for chapter 4 assignment. 
-  * //forces_moments.m// - template file for forces and moments. 
- 
-Updated 9/17/2014 to Simulink 2014a.  A few improvements. 
- 
 There are some issues with the Zagi coefficients given in the book.  We recommend that you use the following (slightly modified from the book) coefficients for the aerosonde aircraft.  There are some issues with the Zagi coefficients given in the book.  We recommend that you use the following (slightly modified from the book) coefficients for the aerosonde aircraft. 
 //{{:project:aerosonde.zip|aerosonde.m}}//  //{{:project:aerosonde.zip|aerosonde.m}}// 
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 ==== Chapter 5 - Linear Design Models ==== ==== Chapter 5 - Linear Design Models ====
- 
-{{:project:chap5_linear.zip|}}: Contains the following files: 
- 
-  * //mavsim_trim.slx// - Simulink file that sets up the input and output structure suitable for //trim// and //linmod//. 
-  * //mavsim_chap5.slx// - Simulink file for chapter 5 assignment showing how to put inpulses and doublets on the control surfaces. 
-  * //param_chap5.m// - template file for param.m that calls //compute_trim//, //compute_tf_model//, and //compute_ss_model//. 
-  * //compute_trim.m// - template file for computing trim values given V_a, gamma, and R. 
-  * //compute_tf_model.m// - template file for computing the transfer function models described in Chapter 5. 
-  * //compute_ss_model.m// - template file for computing the state space models described in Chapter 5. 
  
 For the Aerosonde model use an initial speed of Va = 35 m/s, and and radius of 250 meters. For the Aerosonde model use an initial speed of Va = 35 m/s, and and radius of 250 meters.
- 
-Updated 9/23/2014 to Simulink 2014a.  
  
 [[http://youtu.be/cyLi8WAbOWs|YouTube video showing solution for Chapter 5.]] [[http://youtu.be/cyLi8WAbOWs|YouTube video showing solution for Chapter 5.]]
  
 ==== Chapter 6 - Autopilot Design ==== ==== Chapter 6 - Autopilot Design ====
- 
-{{:project:chap6_autopilot.zip|}}: Contains the following files: 
- 
-  * //batcam.png, kestrel.jpg// - graphics of the BATCAM airframe and the Kestrel autopilot. 
-  * //mavsim_chap6.slx// - Simulink file for chapter 6 including the autopilot. 
-  * //autopilot.m// - Template file for autopilot. 
-  * //param_chap6.m// - Template for parameter file. 
-  * //true_states.m// - Temporary file that returns the true states of the system.  In the Chapter 8 assignment, this will be replaced with a state estimation block. 
-  * Updated 10/2/2014 to Simulink 2014a.  
  
 Additional information: The Aerosonde weight is actually 25kg.  Also, the cruise speed is approximately Va=35 m/s. Additional information: The Aerosonde weight is actually 25kg.  Also, the cruise speed is approximately Va=35 m/s.
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 ==== Chapter 7 - Sensors ==== ==== Chapter 7 - Sensors ====
- 
-{{:project:chap7_sensors.zip|}}: Contains the following files: 
- 
-  * //mavsim_chap7.slx// - Simulink file for chapter 7 including the sensors. 
-  * //sensors.m// - Template file for acceleromters, rate gyros, and pressure sensors. 
-  * //gps.m// - Template file for GPS. 
-  * Updated 10/15/2014 to Simulink 2014a.  
  
 ==== Chapter 8 - State Estimation ==== ==== Chapter 8 - State Estimation ====
-{{:project:chap8_estimation.zip|}}: Contains the following files: 
- 
-  * //mavsim_chap8.slx// - Simulink file for chapter 8: includes Kalman filter 
-  * //estimate_states.m// - Template file for state estimation routine. 
-  * //plotextramavstatevariables.m// - File for graphing ground speed, heading, and wind speeds. 
-  * Updated 10/21/2014 to Simulink 2014a.  
- 
 {{:project:chap8_results.zip|Screen shot of estimation results}} {{:project:chap8_results.zip|Screen shot of estimation results}}
  
 ==== Chapter 9 - Nonlinear Design Models ==== ==== Chapter 9 - Nonlinear Design Models ====
- 
-{{:project:chap9_nonlinear.zip|}}: Contains the following files: 
- 
-  * //mavsim_chap9.slx// - Simulink file for chapter 9. 
-  * //guidance_model.m// - Template file for guidance model. 
-  * Updated 11/6/2014 to Simulink 2014a.  
  
 [[http://youtu.be/A-ZUr_XK0Go|YouTube video showing solution for Chapter 9.]] [[http://youtu.be/A-ZUr_XK0Go|YouTube video showing solution for Chapter 9.]]
  
 ==== Chapter 10 - Waypoint and Orbit Following ==== ==== Chapter 10 - Waypoint and Orbit Following ====
- 
-{{:project:chap10_follow.zip|}}: Contains the following files: 
- 
-  * //mavsim_chap10_model.slx// - Simulink file for chapter 10 using the guidance model developed in chapter 9. 
-  * //mavsim_chap10.slx// - Simulink file for chapter 10 using full simulation model. 
-  * //path_manager_chap10.m// - Template for path manager that will be replaced in the next chapter. 
-  * //path_follow.m// - Template for path following block. 
-  * //drawPathError.m// - Drawing function that includes straight line and orbit paths. 
  
 [[http://youtu.be/1NEssGinf_8|YouTube video showing solution for Chapter 10.]] [[http://youtu.be/1NEssGinf_8|YouTube video showing solution for Chapter 10.]]
  
 ==== Chapter 11 - Path Manager ==== ==== Chapter 11 - Path Manager ====
- 
-{{:project:chap11_manager.zip|}}: Contains the following files: 
- 
-  * //mavsim_chap11_model.slx// - Simulink file for chapter 11 using the guidance model developed in chapter 9. 
-  * //mavsim_chap11.slx// - Simulink file for chapter 11 using full simulation model. 
-  * //path_planner_chap11.m// - Temporary path planner that will be replaced in the next chapter. 
-  * //path_manager.m// - Path manager that calls either path_manager_line.m, path_manager_fillet.m, or path_manager_dubins.m 
-  * //path_manager_line.m// - Template for path manager that follows waypoints with hard turns between line segments. 
-  * //path_manager_fillet.m// - Template for path manager that follows waypoints smoothing between line segments with fillets. 
-  * //path_manager_dubins.m// - Template for path manager that follows Dubins path. 
-  * //dubinsParameters.m// - Template file for computing Dubins parameters given start and end configurations. 
-  * //drawEnvironment.m// - Draws map of environment with buildings.  Also plots waypoint paths and straight-line or orbit being followed. 
-  * //createWorld.m// - Creates a world with buildings. 
-  * //param_chap11.m// - additional parameter values for city creation.   
-  * //drawPathError.m// - Drawing function that includes straight line and orbit paths. 
  
 [[http://youtu.be/aGAdjbtSoso|YouTube video showing solution for Chapter 11.]] [[http://youtu.be/aGAdjbtSoso|YouTube video showing solution for Chapter 11.]]
  
 ==== Chapter 12 - Path Planning ==== ==== Chapter 12 - Path Planning ====
- 
-{{:project:chap12_plan.zip|}}: Contains the following files 
- 
-  * //mavsim_chap12_model.slx// - Simulink file for chapter 12 using the guidance model developed in chapter 9. 
-  * //mavsim_chap12.slx// - Simulink file for chapter 12 using full simulation model. 
-  * //path_planner.m// - Master file that calls different path planners. 
-  * //planRRT.m// - Point to point path planner using RRT algorithm to plan straight-line paths 
-  * //planCover.m// - Covering path planner using simple look ahead planning 
  
 {{:project:plan_voronoi_optimal.zip|}} - Voronoi path planning code (note: sometimes hangs) {{:project:plan_voronoi_optimal.zip|}} - Voronoi path planning code (note: sometimes hangs)
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 [[http://youtu.be/bdYb45bpID4|YouTube video showing solution for Chapter 12.]] [[http://youtu.be/bdYb45bpID4|YouTube video showing solution for Chapter 12.]]
 +
 ==== Chapter 13 - Cameras ==== ==== Chapter 13 - Cameras ====
 {{:project:chap13_camera.zip|}} {{:project:chap13_camera.zip|}}