From 6902165cb3ab277037151fffef15b37da3c20b02 Mon Sep 17 00:00:00 2001 From: "Bredemeier, Fabian (TD-M)" Date: Tue, 6 Dec 2022 15:24:25 +0100 Subject: [PATCH] Copter: Simulink Model and init scripts for Copter-4.3 - arducopter.slx: Simulates ArduCopter Stabilize and Althold controller and optional plant model - sid_pre.m: Loads *.bin files to Matlab structs - sid_sim_init.m: Loads signals and parameters from Matlab structure into Simulink model - sid_controller_validation.m: Validation of the flight controller model with the flight data loaded to the Matlab workspace. --- Tools/simulink/arducopter/README.md | 19 + Tools/simulink/arducopter/arducopter.slx | Bin 0 -> 610374 bytes .../arducopter/functions/ModeConfig.m | 204 ++++ .../arducopter/functions/demodYawAngle.m | 41 + .../functions/getMotorMixerFactors.m | 126 +++ .../arducopter/functions/getParamVal.m | 39 + .../arducopter/functions/getTimeZero.m | 47 + .../arducopter/functions/plausibilizeTime.m | 98 ++ .../arducopter/functions/resampleLog.m | 166 ++++ .../arducopter/sid_controller_validation.m | 237 +++++ .../sid_controller_validation_cfg.m | 27 + Tools/simulink/arducopter/sid_pre.m | 537 +++++++++++ Tools/simulink/arducopter/sid_sim_init.m | 911 ++++++++++++++++++ Tools/simulink/arducopter/simulink_model.PNG | Bin 0 -> 169857 bytes 14 files changed, 2452 insertions(+) create mode 100644 Tools/simulink/arducopter/README.md create mode 100644 Tools/simulink/arducopter/arducopter.slx create mode 100644 Tools/simulink/arducopter/functions/ModeConfig.m create mode 100644 Tools/simulink/arducopter/functions/demodYawAngle.m create mode 100644 Tools/simulink/arducopter/functions/getMotorMixerFactors.m create mode 100644 Tools/simulink/arducopter/functions/getParamVal.m create mode 100644 Tools/simulink/arducopter/functions/getTimeZero.m create mode 100644 Tools/simulink/arducopter/functions/plausibilizeTime.m create mode 100644 Tools/simulink/arducopter/functions/resampleLog.m create mode 100644 Tools/simulink/arducopter/sid_controller_validation.m create mode 100644 Tools/simulink/arducopter/sid_controller_validation_cfg.m create mode 100644 Tools/simulink/arducopter/sid_pre.m create mode 100644 Tools/simulink/arducopter/sid_sim_init.m create mode 100644 Tools/simulink/arducopter/simulink_model.PNG diff --git a/Tools/simulink/arducopter/README.md b/Tools/simulink/arducopter/README.md new file mode 100644 index 0000000000..0525190772 --- /dev/null +++ b/Tools/simulink/arducopter/README.md @@ -0,0 +1,19 @@ +# ArduCopter Simulink Model + +The Simulink file [arducopter.slx](https://github.com/fbredeme/ardupilot_simulink/blob/master/arducopter.slx) contains a model of the ArduCopter Stabilize and Althold controllers. The plant models of the copter itself can be generated by [system identification](https://ardupilot.org/copter/docs/systemid-mode.html). + +![](simulink_model.PNG?raw=true "Simulink screenshot") + +To run the simulation, the relevant data from a *.bin log file needs to be loaded to the MATLAB workspace. This can be done with the two scripts that are provided: + +1) **sim_pre.m**: Loads flightdata from dataflash logs +Opens a dialog to select the flightdata logs for data extraction with Ardupilog. Then, subflights from the log can be selected in the command line. A subflight represents a time segment with one active flight mode. Therefore, flight mode changes divide the log in several subflights. After subflight selection, a array called "sidLogs" is created. Each element of the array represents one selected subflight. + +2) **sid_sim_init.m**: Loads relevant data for the simulation of a subflight from the sidLogs array +At first, the index of the subflight in the sidLogs array has to be configured in the first line of the script. The subflight can be cropped in its length by configuring start and stop time ("tStart" and "tEnd"). Setting these to "0" and "inf" respectively will load the whole subflight into the workspace. Finally, the variable "simMode" can be used to test different parts of the whole Simulink model. Transfer function models of the copter, if available, can be simulated by setting the variable to 0. In any other configuration, dummy models will be used. The other modes 2, 3 and 4 can be used to validate the implemented controllers against measured data. In these simulation modes, the logged target and actual values are given to the respective controller, ignoring the computed signals of the model. The correct control behaviour can be validated by comparing the computed output signals to the measured output signals with the "Data Inspector" of Simulink. + +For the validation of the implemented controller models, one can use the script **sid_controller_validation.m** after the flight data has been loaded to the workspace with **sim_pre.m**. In this case, only the index of the loaded log file ("log_idx") has to be specified by the user. The script then asks the user for the controller type to be validated and runs the simulation automatically. Afterwards, the simulated outputs of the respective controller are plotted together with the measured outputs and the fit between the corresponding signals is calculated. Both the figures and the calculated fits are saved in the "results" folder. + +## Prerequesites +- [Ardupilog](https://github.com/Georacer/ardupilog) (add local repo to path in Matlab) +- A dataflash log of a test flight with the following LOG_BITMASK: 135923 \ No newline at end of file diff --git a/Tools/simulink/arducopter/arducopter.slx b/Tools/simulink/arducopter/arducopter.slx new file mode 100644 index 0000000000000000000000000000000000000000..6cd1460cd6246e65a10ed5cf4ffbc72e46d71c00 GIT binary patch literal 610374 zcmaI-W02@zx2_AfG26D?vu)e9ZQHhO+qP}nwr%&BYpwd~+wa-??5dIc2&!_AdyM2s zo-1;az#zx~000mG?he7qJo_)=CBOgxKkNViNdLBK3fkH@8QVDND!JPkJ8ILoSz8Tf zZrW_J!H4J$&s`I)q!&f7@y9js`L|##QF~z2AyOlyi1`;?n&kSF6FV<>bZ0ti{iG&@ ze3`hR!-g)MzrXfmdLfNSRGY|iNEd|5HQN+fn9iTd+RCUg)yGtZxN3x}JN>m{V&~=j zcH)HKybn&!7M45>QMI?aEIw<`zThYSHO`lw&Gu!o=DPD3)0!NoZFKgZ8gNNvAPkK*#A~L zB7UFu%FKELeCthZPm68ac6d+j)}5UBL;F(5EnB}joA;8rJHFj={D`uK%3ec?Crs9c zV!JHBtD8y|47+T?+4HrfKITHR1^W{!)`cP-Bl;;C=o&6cU(f8N=8=9=O>2tUh59+( 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