Astr av2 simulation #1
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
… term to assure controlability. - Added auto creation of a .m function for the nonlinear dynamics as to mirror the work done on TADPOLE Controls - Removed auto loading of Simulink Model
…modified and slightly tweaked the dynamics, and added basic controller generation. Also updated plant Simulink model to mimic work done in TADPOLE Controls
…nctions (lacks testing for now)
…ditional GPS Update steps into the EKF, as right now it is only working based off of IMU + Magnetometer
…erly estimate accelerometer bias due to lack of measurements)
…lant disturbances
…plete documentation
Added ability to set an abort time in runSim. Added a wind model to external disturbances.
…s/model2 into ASTRAv2_Simulation
…ting p.Q for the gyros to avoid issues with actuator delays in filter.
…d actuator models to limit overshoot when saturated for realism.
Prepare to code up an EMA for Gyros to be fed into control state.
ESTIMATION: Addition of an EMA for the Gyro post-processing Removal of angular rate states from M-EKF. Removal of in-flight accelerometer updates in M-EKF. Covariance tuning for gyro biases. SIMULATION: Addition of gyro bias drift with low covariance for testing Retuning of gimbal actuator models given a few tests runs today CONTROLS: Updated roll control tuning for better control
Added Controls folder with Jacobian functions and "SolveLQR", which computes the gain matrix by solving the cont. time Algebraic Ricatti Equation (CARE) and computing the gain matrix directly. This will be useful later for in-flight re-linearization. Fixed torque dynamics. Torque is now in the thrust vector axis, as it should be for a contra rotating EDF.
…PS.RTK Vel Covariance
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.