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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|}}+