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morse-simulator / morse

The Modular OpenRobots Simulation Engine
http://morse-simulator.github.io/
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Introducing dynamic model for quadrotor #678

Closed adegroote closed 8 years ago

adegroote commented 8 years ago

The idea of this actuator is to allow to compute the dynamic of a quadrotor depending on each propeller speed. The actuator is fine by itself, through very specific (to quadrotor). It would be easy to extend it to hexa / octorotor, but I feel the configuration looks ugly (if I overload configuration).

What is your opinion about it ?

What about creating a class DynamicModel which will be subclassed in DynamicModelQuadrotorPlus, DynamicModelQuadrotorX, Octorotor, and make

morse.robots.quadrotor.Quadrotor derives from both core.Robot and DynamicModelQuadrotorPlus ?

QuadrotorDynamicControl can become DynamicControl or DirectControl (or a better name), and just use the underline model from the robot ? Moreover, the inverse model can be used for animation (derivating motor speed from thrust / moment).

Do it feel too complex ?

lindemer commented 8 years ago

Hey adegroote,

I made a fairly sophisticated quadrotor flight simulator using MORSE early this year. I think you may find some useful code there: http://github.com/motet/baldr

Best, motet

adegroote commented 8 years ago

Hi motet, I remember your project, which was quite interesting. The idea here is to put models into Morse, while you run the models (and command law and other stuff) outside Morse.

adegroote commented 8 years ago

Close it, it is in #680.