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main.m
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close all;
clc; clear;
addpath('./lib');
%%DEFINE
R2D = 180/pi;
D2R = pi/180;
%% INIT. PARAMS
drone1_params = containers.Map({'mass','armLength','Ixx','Iyy','Izz'}, ...
...
{1.25,0.265,0.0232,0.0232,0.0468});
drone1_initStates = [0, 0, -5, ... % x, y, z
0, 0, 0, ... % dx, dy, dz
0, 0, 0, ... % phi, theta, psi
0, 0, 0]';
drone1_initInputs = [0,0,0,0]'; % u1, u2, u3, u4 (T, M1, M2, M3)
drone1_body = [ 0.265, 0, 0, 1; ...
0, -0.265, 0, 1; ...
-0.265, 0, 0, 1; ...
0, 0.265, 0, 1; ...
0, 0, 0, 1; ...
0, 0, -0.15, 1]';
drone1_gains = containers.Map({ ...
'P_phi','I_phi','D_phi',...
'P_theta','I_theta','D_theta',...
'P_psi','I_psi','D_psi',...
'P_zdot','I_zdot','D_zdot'}, ...
{ ...
0.1, 0.0, 0.15, ...
0.1, 0.0, 0.15, ...
0.4, 0.0, 0.3, ...
0.0, 0.0, 0.0, ...
});
simulationTime = 2;
drone1 = Drone(drone1_params, drone1_initStates,drone1_initInputs, drone1_gains, simulationTime);
%% Init. 3D Fig
fig1 = figure('pos',[0 200 800 800]);
h= gca;
view(3);
fig1.CurrentAxes.ZDir = 'Reverse';
fig1.CurrentAxes.YDir = 'Reverse';
axis equal;
grid on;
xlim([-5 5]); ylim([-5 5]); zlim([-8 0 ]);
xlabel('X[m]');
ylabel('Y[m]');
zlabel('Z[m]');
hold(gca, 'on');
drone1_state = drone1.GetState();
wHb = [RPY2Rot(drone1_state(7:9))' drone1_state(1:3); 0 0 0 1]; % Homogenious 4x4 matrix
drone1_world = wHb * drone1_body;
drone1_atti = drone1_world(1:3,:);
fig1_ARM13 = plot3(gca, drone1_atti(1,[1 3]), drone1_atti(2,[1 3]), drone1_atti(3,[1 3]), '-ro', 'MarkerSize',5, 'LineWidth',1.5);
fig1_ARM24 = plot3(gca, drone1_atti(1,[2 4]), drone1_atti(2,[2 4]), drone1_atti(3,[2 4]), '-bo', 'MarkerSize',5 ,'LineWidth',1.5);
fig1_payload = plot3(gca, drone1_atti(1,[5 6]), drone1_atti(2,[5 6]), drone1_atti(3,[5 6]), '-k', 'LineWidth',3);
fig1_shadow = plot3(gca,0,0,0,'xk','LineWidth',3);
hold(gca,'off');
%% Init. Data Fig
fig2 = figure('Position',[800 400 800 600]);
subplot(2,3,1)
title('phi[deg]');
grid on;
hold on;
subplot(2,3,2)
title('theta[deg]');
grid on;
hold on;
subplot(2,3,3)
title('psi[deg]');
grid on;
hold on;
subplot(2,3,4)
title('x[m]');
grid on;
hold on;
subplot(2,3,5)
title('y[m]');
grid on;
hold on;
subplot(2,3,6)
title('zdot[m/s]');
grid on;
hold on;
%%
commandSig(1) = 10.0 * D2R; % phi_des
commandSig(2) = 0.0 * D2R; % theta_des
commandSig(3) = 0.0 * D2R; % psi_des
commandSig(4) = 10.0; % zdot_des
for i = 1:simulationTime/0.01
drone1.AttitudeCtrl(commandSig);
drone1.UpdateState();
drone1_state = drone1.GetState();
%% 3D plot
% figure(1)
wHb = [RPY2Rot(drone1_state(7:9))' drone1_state(1:3); 0 0 0 1]; % Homogenious 4x4 matrix
drone1_world = wHb * drone1_body;
drone1_atti = drone1_world(1:3,:);
set(fig1_ARM13, ...
'xData', drone1_atti(1, [1 3]),...
'yData', drone1_atti(2, [1 3]),...
'zData', drone1_atti(3, [1 3]));
set(fig1_ARM24, ...
'xData', drone1_atti(1, [2 4]),...
'yData', drone1_atti(2, [2 4]),...
'zData', drone1_atti(3, [2 4]));
set(fig1_payload, ...
'xData', drone1_atti(1, [5 6]),...
'yData', drone1_atti(2, [5 6]),...
'zData', drone1_atti(3, [5 6]));
set(fig1_shadow, ...
'xData', drone1_state(1),...
'yData', drone1_state(2),...
'zData', 0);
figure(2);
subplot(2,3,1)
plot(i/100, drone1_state(7)*R2D, '.');
subplot(2,3,2)
plot(i/100, drone1_state(8)*R2D, '.');
subplot(2,3,3)
plot(i/100, drone1_state(9)*R2D, '.');
subplot(2,3,4)
plot(i/100, drone1_state(1), '.');
subplot(2,3,5)
plot(i/100, drone1_state(2), '.');
subplot(2,3,6)
plot(i/100, drone1_state(6), '.');
if (drone1_state(3) >= 0)
msgbox('Crashed!','Error','error');
break;
end
end