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Project Files - ECE 674/ME 634

Chapter 1 - Introduction

Chapter 2 - Coordinate Frames

Chapter 3 - Kinematics and Dynamics

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

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

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 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.

Chapter 6 - Autopilot Design

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

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

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

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

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

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

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

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

Appendix - s-function