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cdrom [2011/08/22 15:53]
beard
cdrom [2012/02/15 13:53]
beard
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 ====== Project Files - ECE 674/ME 634 ====== ====== Project Files - ECE 674/ME 634 ======
  
- +See [[http://uavbook.byu.edu]].
-==== Chapter 1 - Introduction ==== +
- +
-==== Chapter 2 - Coordinate Frames ==== +
- +
-{{:uavbook:​animation.zip|}} +
- +
-==== Chapter 3 - Kinematics and Dynamics ==== +
- +
-{{:​uavbook:​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.mdl//​ - Simulink file for chapter 3 assignment +
- +
-//​T_mav_dynamics.m//​ - template file for mav_dynamics.m (rename) +
- +
-//​T_param_chap3.m//​ - template file for param.m (rename) +
- +
- +
-==== Chapter 4 - Forces and Moments ==== +
- +
-{{:uavbook:​chap4_forces.zip|}} +
- +
-Contains the following files: +
- +
-//​mavsim_chap4.mdl// - Simulink file for chapter 4 assignment. +
- +
-//​forces_moments.m//​ - template file for forces and moments. +
- +
-//​param_chap4.m//​ - template file for param.m +
-==== Chapter 5 - Linear Design Models ==== +
- +
-{{:​uavbook:​chap5_linear.zip|}} +
- +
-Contains the following files: +
- +
-//​mavsim_trim.mdl//​ - Simulink file that sets up the input and output structure suitable for //trim// and //​linmod//​. +
- +
-//​mavsim_chap5.mdl//​ - 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 <​latex>​V_a</​latex>,​ <​latex>​\gamma</​latex>,​ and <​latex>​ R </​latex>​. +
- +
-//​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. +
- +
-==== Chapter 6 - Autopilot Design ==== +
- +
-{{:​uavbook:​chap6_autopilot.zip|}} +
- +
-//​airspeed_from_pitch_loop.mdl,​ airspeed_from_throttle_loop.mdl,​ altitude_from_pitch_loop.mdl,​ roll_loop.mdl,​ yaw_loop.mdl//​ - Simulink files to be used in testing the autopilot parameters agains the linear transfer functions. +
- +
-//​batcam.png,​ kestrel.jpg//​ - graphics of the BATCAM airframe and the Kestrel autopilot. +
- +
-//​mavsim_chap6.mdl//​ - Simulink file for chapter 6 including the autopilot. +
- +
-//​autopilot.m//​ - Template file for autopilot. +
- +
-//​param_chap6.m//​ - Template for parameter file.  Calls //​computeGains.m//​. +
- +
-//​computeGains.m//​ - Template for computing the autopilot gains based on airframe parameters. +
- +
-//​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. +
- +
-==== Chapter 7 - Sensors ==== +
- +
-{{:​uavbook:​chap7_sensors.zip|}} +
- +
-//​mavsim_chap7.mdl//​ - Simulink file for chapter 7 including the sensors. +
- +
-//​param_chap7.m//​ - Added sensor parameters to param.m +
- +
-//​sensors.m//​ - Template file for acceleromters,​ rate gyros, and pressure sensors. +
- +
-//gps.m// - Template file for GPS. +
- +
-==== Chapter 8 - State Estimation ==== +
-{{:​uavbook:​chap8_estimation.zip|}} +
- +
-//​mavsim_chap8.mdl//​ - 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. +
- +
- +
-==== Chapter 9 - Nonlinear Design Models ==== +
- +
-{{:​uavbook:​chap9_nonlinear.zip|}} +
- +
-//​mavsim_chap9.mdl//​ - Simulink file for chapter 9. +
- +
-//​guidance_model.m//​ - Template file for guidance model. +
- +
-==== Chapter 10 - Waypoint and Orbit Following ==== +
- +
-{{:​uavbook:​chap10_follow.zip|}} +
- +
-//​mavsim_chap10_model.mdl//​ - Simulink file for chapter 10 using the guidance model developed in chapter 9. +
- +
-//​mavsim_chap10.mdl//​ - 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. +
- +
-==== Chapter 11 - Path Manager ==== +
- +
-{{:​uavbook:​chap11_manager.zip|}} +
- +
-//​mavsim_chap11_model.mdl//​ - Simulink file for chapter 11 using the guidance model developed in chapter 9. +
- +
-//​mavsim_chap11.mdl//​ - 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. +
- +
- +
-==== Chapter 12 - Path Planning ==== +
- +
-{{:​uavbook:​chap12_plan.zip|}} +
- +
-//​mavsim_chap12_model.mdl//​ - Simulink file for chapter 12 using the guidance model developed in chapter 9. +
- +
-//​mavsim_chap12.mdl//​ - 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 +
- +
-==== Chapter 13 - Cameras ==== +
-{{:​uavbook:​chap13_camera.zip|}} +
- +
-//​mavsim_chap13_gimbal_model.mdl//​ - Simulink file for problem 13.1 using the guidance model developed in chapter 9. +
- +
-//​mavsim_chap13_gimbal.mdl//​ - Simulink file for problem 13.1 using full simulation model. +
- +
-//​mavsim_chap13_geolocation_model.mdl//​ - Simulink file for problem 13.2 using the guidance model developed in chapter 9. +
- +
-//​mavsim_chap13_geolocation.mdl//​ - Simulink file for problem 13.2 using full simulation model. +
- +
-//​point_gimbal.m//​ - Template for gimbal command. +
- +
-//​geolocation.m//​ - Template for geolocation routine. +
- +
-//​camera.m//​ - Simulates camera. +
- +
-//​target_motion.m//​ - Simulates motion of target. +
- +
-//​gimbal.m//​ - Simulates the gimbal. +
- +
-//​drawEnvironmentCamera.m//​ - Drawing routine that includes field of view and target location. +
- +
-//​gimbal.jpg//​ - Image of gimbal. +
- +
-//​monstertruck.jpb//​ - Image of monster truck. +
- +
- +
-==== Appendix - Animation ==== +
- +
-{{:​uavbook:​animation.zip|}} +
- +
-==== Appendix - s-function ==== +
- +
-{{:​uavbook:​s-functions.zip|}}+