model

Vehicles.Rdd2.Test.VibrationGlobalWaypointMission

GPS-navigated RDD2 waypoint mission flown with rotor vibration on the IMU

Runs GlobalWaypointMission with the rotor unbalance and blade-pass disturbance switched on. Everything else, including the waypoints, task periods, sensor noise seed, and estimator, is shared with the vibration-free mission, so the difference between the two traces is the navigation cost of vibration alone.

Base classes

GlobalWaypointMission

Follow base classes for inherited declarations; this page lists explicit declarations only.

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
parameter	`vibrationAngularAmplitude_rad_s`	`Real`	`(unit = "rad/s") = 0.05`	Per-rotor angular-rate vibration amplitude at hover trim
parameter	`vibrationSpecificForceAmplitude_m_s2`	`Real`	`(unit = "m/s2") = 1.0`	Per-rotor lateral specific-force vibration amplitude at hover trim
parameter	`imuAntiAliasFilter`	`Boolean`	`= true`	Run the ICM-45686 user-interface low-pass ahead of IMU sampling

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model VibrationGlobalWaypointMission
  "GPS-navigated RDD2 waypoint mission flown with rotor vibration on the IMU"
  parameter Real vibrationAngularAmplitude_rad_s(unit = "rad/s") = 0.05
    "Per-rotor angular-rate vibration amplitude at hover trim";
  parameter Real vibrationSpecificForceAmplitude_m_s2(unit = "m/s2") = 1.0
    "Per-rotor lateral specific-force vibration amplitude at hover trim";
  parameter Boolean imuAntiAliasFilter = true
    "Run the ICM-45686 user-interface low-pass ahead of IMU sampling";
  extends GlobalWaypointMission(plant(
    enableRotorVibration = true,
    rotorVibrationAngular_rad_s = vibrationAngularAmplitude_rad_s,
    rotorVibrationSpecificForce_m_s2 = vibrationSpecificForceAmplitude_m_s2,
    enableImuAntiAliasFilter = imuAntiAliasFilter));
  annotation(Documentation(info = "<html>
    <p>Runs <code>GlobalWaypointMission</code> with the rotor unbalance and
    blade-pass disturbance switched on. Everything else, including the
    waypoints, task periods, sensor noise seed, and estimator, is shared with
    the vibration-free mission, so the difference between the two traces is
    the navigation cost of vibration alone.</p>
  </html>"));
end VibrationGlobalWaypointMission;