package

Vehicles.Rdd2

RDD2 vehicle configuration and flight-control models

RDD2 multirotor

This package binds reusable dynamics and control to the RDD2 vehicle. RotorGeometry defines the motor order, positions in body FLU and yaw torque signs. Keep that order consistent through allocation and actuator connections.

Start with Test to compare truth, optical-flow-aided and GPS-aided waypoint missions. The alternate LogLinearController parameterizes the shared controller rather than duplicating its mathematics. Use mission sensor configuration, source timestamps and the local origin consistently when changing navigation options.

Members

Name	Kind	Description
RotorGeometry	record	RDD2 motor locations and reaction-torque directions in command order
RotorVibration	model	Narrowband rotor unbalance and blade-pass airframe vibration
Plant	model	RDD2 quadrotor with native avionics-facing connectors
ControllerInterfaces	package	Typed signal boundaries shared by the RDD2 controller blocks
CommandMapping	block	Map pilot input into rate, attitude, and thrust demands
ProportionalController	block	Sampled proportional controller with symmetric output limiting
ScriptedTransmitter	block	Deterministic pilot transmitter replayed from a table of channel settings
FlightModeSelector	block	Decode a transmitter mode switch into the RDD2 flight-mode enumeration
ManualTrajectorySource	block	Trajectory reference the pilot pushes along SE_2(3) with the sticks
Mixer	block	Desaturating X-quadrotor mixer
RateControlAllocator	block	Sampled body-rate control and motor allocation task
GuidanceController	block	Pilot, attitude, and position guidance task
Controller	block	Composed RDD2 controller used by simulation and qualification
LogLinearController	block	RDD2 parameterization of the log-linear controller
NavigationEstimator	block	RDD2 eFMU implementation of the stable navigation estimator boundary
standardNormalNoise	function	Reproducible standard-normal sample from an indexed sine hash
mocapRigToWorld	function	Map a motion-capture pose from the rig frame into the estimator world frame
simulateOpticalFlowPlane	function	Generate raw plane-induced flow for a co-located nadir camera
PartialController	block	Swappable whole-controller boundary for the RDD2 vehicle
AvionicsSystem	block	Ideal RTOS composition of planning and the shared flight controller
ReducedRateController	block	RDD2 flight controller with a reduced-authority body-rate loop
WaypointVehicleSystem	model	Closed-loop plant and ideal RTOS composition driven by a waypoint plan
Test	package	RDD2 model-level test missions

Modelica declarations and implementation

Show parameters, interfaces and source

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

package Rdd2 "RDD2 vehicle configuration and flight-control models"
  record RotorGeometry
    "RDD2 motor locations and reaction-torque directions in command order"
    parameter Real armLength_m(unit = "m") = 0.25 annotation(Evaluate = true);
    Real effectiveMomentArm_m(unit = "m") = armLength_m / sqrt(2.0)
      "Quad-X roll/pitch lever arm";
    parameter Real rotorTorqueRatio_m(unit = "m") = 0.016 annotation(Evaluate = true);
    Real positionBodyFlu_m[4, 3] = [
       effectiveMomentArm_m, -effectiveMomentArm_m, 0.0;
      -effectiveMomentArm_m, -effectiveMomentArm_m, 0.0;
      -effectiveMomentArm_m,  effectiveMomentArm_m, 0.0;
       effectiveMomentArm_m,  effectiveMomentArm_m, 0.0];
    Real yawMomentPerThrust_m[4] =
      rotorTorqueRatio_m * {-1.0, 1.0, -1.0, 1.0};
  end RotorGeometry;
  annotation(Documentation(info = "<html>
    <h4>RDD2 multirotor</h4>
<p>This package binds reusable dynamics and control to the RDD2 vehicle.
<a href=\"modelica://Vehicles.Rdd2.RotorGeometry\">RotorGeometry</a> defines the
motor order, positions in body FLU and yaw torque signs. Keep that order
consistent through allocation and actuator connections.</p>
<p>Start with <a href=\"modelica://Vehicles.Rdd2.Test\">Test</a> to compare truth,
optical-flow-aided and GPS-aided waypoint missions. The alternate
<a href=\"modelica://Vehicles.Rdd2.LogLinearController\">LogLinearController</a>
parameterizes the shared controller rather than duplicating its mathematics.
Use mission sensor configuration, source timestamps and the local origin
consistently when changing navigation options.</p>
    </html>"));
end Rdd2;