62 lines
2.4 KiB
Python
62 lines
2.4 KiB
Python
"""
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Imports
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"""
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import numpy as np
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from scipy.spatial.transform import Rotation # This is a useful library for working with attitude.
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class ControlTemplate(object):
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"""
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The controller is implemented as a class with two required methods: __init__() and update().
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The __init__() is used to instantiate the controller, and this is where any model parameters or
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controller gains should be set.
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In update(), the current time, state, and desired flat outputs are passed into the controller at
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each simulation step. The output of the controller should be the commanded motor speeds,
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commanded thrust, commanded moment, and commanded attitude (in quaternion [x,y,z,w] format).
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"""
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def __init__(self, vehicle_params):
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"""
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Parameters:
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vehicle_params, dict with keys specified in a python file under /rotorpy/vehicles/
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"""
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def update(self, t, state, flat_output):
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"""
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This function receives the current time, true state, and desired flat
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outputs. It returns the command inputs.
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Inputs:
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t, present time in seconds
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state, a dict describing the present state with keys
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x, position, m
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v, linear velocity, m/s
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q, quaternion [i,j,k,w]
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w, angular velocity, rad/s
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flat_output, a dict describing the present desired flat outputs with keys
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x, position, m
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x_dot, velocity, m/s
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x_ddot, acceleration, m/s**2
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x_dddot, jerk, m/s**3
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x_ddddot, snap, m/s**4
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yaw, yaw angle, rad
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yaw_dot, yaw rate, rad/s
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Outputs:
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control_input, a dict describing the present computed control inputs with keys
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cmd_motor_speeds, rad/s
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cmd_thrust, N (for debugging and laboratory; not used by simulator)
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cmd_moment, N*m (for debugging; not used by simulator)
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cmd_q, quaternion [i,j,k,w] (for laboratory; not used by simulator)
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"""
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cmd_motor_speeds = np.zeros((4,))
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cmd_thrust = 0
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cmd_moment = np.zeros((3,))
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cmd_q = np.array([0,0,0,1])
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control_input = {'cmd_motor_speeds':cmd_motor_speeds,
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'cmd_thrust':cmd_thrust,
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'cmd_moment':cmd_moment,
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'cmd_q':cmd_q}
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return control_input
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