Quarter Goals: Do more block tests with my model Use simscape to import CAD model and compare with results from mathematical model from the simulation. Work with Amir to set up autonomous quadcopters Study optimal control and see how it can apply to the single-motor flyer project
Current Design of the dynamics module: First, the control loop follows the design of a quadcopter. Instead of using the dynamics from the paper, I reverted back to the design of the quadcopter - disregard the moment of inertia of the propeller.
Weekly Plan for January:
Week 1: Goal: validate the current design of the dynamics model Approach: compare the classic quadcopter model with the revised model from ETH. Decouple torque and force and analyze the trajectory iteration by iteration. Deliverable: a graph that compares the trajectories generated by different approaches and analysis of how the system responds to force/torque.
Week 2: Goal: determine the validity of the current linearization model study MAE 270B handout 1 Approach: since most quadcopter models disregard the derivative of the propeller thrust, it should not have great effect on the linearization matrices returned from the linearization script. Take the term out and pass the resultant linearization matrices into the LQR controller. Observe the state of the drone. Deliverable: a comparison between resultant linearization matrices from different approaches of calculating the derivative of the propeller thrust.
Week 3: Goal: finish the simulator study MAE 270B handout 2 Approach: combine the results from the previous two weeks and decide whether to use Simscape to evaluate the dynamics instead. If so, connect the CAD model built during week 1 into the simulink control loop. Deliverable: a visualization of the CAD model with constant propeller thrust and with the attitude controller connected.
Week 4: Goal: learn to write launch files and study how to implement autonomous flight with Optitrack study 270B handout 3 Approach: read the documentation of ROS and Optitrack. Deliverable: a demonstration that shows a Crazyflie could fly with the launch file I wrote.