Create quadcopter model in Scilab XCos

afry-south / dragonfly-fcb

ÅF Dragonfly Quadrotor UAV Project

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Create quadcopter model in Scilab XCos #117

Open stenbergd opened 8 years ago

stenbergd commented 8 years ago

Scilab is a free numerical mathematics platform, similar to Matlab. It features the XCos simulation block-building tool useful for modeling dynamical systems (like Simulink).

Model the 6-DoF quadcopter model

6-DoF body-frame dynamic equations
Rotation matrix to world-frame
Model PID controllers with output representing forces and moments

adam-at-epsilon commented 8 years ago

@DanielStenis should we repurpose this to include use python/numpy instead? We could also perhaps ask for the simulator code from the AUTONAVx code, I saw something about that in the course forum.

stenbergd commented 8 years ago

I guess we could leave it open for now and whoever gets down to doing it can decide.

It could be a valuable exercise to construct and own one to get acquainted with the dynamical system equations and transformations between coordinate systems.

I found a Python package for dynamical system simulation, PyDSTool: https://wiki.python.org/moin/PyDSTool