ladac's Issues

Small improvements for the discrete PT1 and PT2 blocks in 'filters_lib'

All of the following suggestions would be breaking changes, meaning that any library or model using these blocks would need to be revised. The proposed changes are not important and could be made if another important breaking change were made.

Rename block: 'PT1 discrete with saturations' -> 'PT1 discrete with saturation'
Rename mask parameter names for discrete PT1 and PT2:
- initial output parameter names are not consistent, they are e. g. y_0_src and x_init. It would probably be better to name them y_0_src and y_0.
- the naming of output min/max parameters and initial output parameters should also be consistent?
Change the PT2 block, so that omega and d can be set separately to 'internal / external' .

Validate and improve unsteady VLM wing

Unsteady RANS discrete gust and dynamic flap deflection simulations showed that the unsteady VLM wing project is not accurate enough.

ArduPlane custom controller fresh install does not work anymore

This is the README which does not work anymore:
https://github.com/iff-gsc/LADAC/tree/main/utilities/interfaces_external_programs/ArduPilot_custom_controller#readme

In Test->ArduPlane->1., git gets stuck at:

git submodule update --init --recursive

The reason probably is that the url of two submodules has changed:
https://github.com/ArduPilot/libcanard --> https://github.com/ArduPilot/archived-libcanard
https://github.com/ArduPilot/uavcan --> https://github.com/ArduPilot/archived-uavcan

To get it to work again, the url must be changed:

git submodule set-url modules/libcanard https://github.com/ArduPilot/archived-libcanard.git
git submodule set-url modules/uavcan https://github.com/ArduPilot/archived-uavcan.git

This must be tested again because it did not work immediately on Fabian's PC.

Add README to rotorcraft subfolder

adjust README in aerodynamics/rotor folder
add README blade_element_method subfolder
add README induced_velocity subfolder

Add battery model

Simple wing: Drag coefficient decreases with negative deflection values

Instead of increasing the drag coefficient, it decreases by negative deflection values.

Have a look at the code at L90

For testing, run the following command (-10-deg deflection):

alpha_M         = [-pi/2:0.05:pi/2]';
beta_M          = 0;
eta             = [-10]'*pi/180;
figure
for i = 1:length(eta)
C_D = simpleWingGetCd( wing, alpha_M*[1,1], beta_M*[1,1], eta(i)*[1,1] );
plot( alpha_M, C_D )
hold on
end
xlabel('\alpha_M, rad'), ylabel('C_D'), grid on;

and then this (0-deg deflection):

alpha_M         = [-pi/2:0.05:pi/2]';
beta_M          = 0;
eta             = [0]'*pi/180;
figure
for i = 1:length(eta)
C_D = simpleWingGetCd( wing, alpha_M*[1,1], beta_M*[1,1], eta(i)*[1,1] );
plot( alpha_M, C_D )
hold on
end
xlabel('\alpha_M, rad'), ylabel('C_D'), grid on;

You will see a decrease in the drag coefficient compared to a zero angle of attack.

Add README to the actuators subfolder

ArduPlane SITL does not work for the latest ArduPilot master

This issue was originally created in GitLab on 5/19/2022 and probably refers to a version near that date.

sim_vehicle.py -v ArduPlane --model=gazebo
Does not connect with the Simulink model.

A similar problem occurred with a version from 2019 (f69be707) where the ArduPlane SITL disconnects after approx. 30 seconds.

It is interesting that the ArduCopter SITL works in both cases (sim_vehicle.py -v ArduCopter --model=gazebo)

ArduPilot interface: generated code contains double data types

We updated the ArduPilot interface so that the default data type should be single and that no single data types need to be specified in the code itself.
However, at least double parameters from the workspace are generated as doubles in the C++ code in rtwtypes (real_T double ...).
As a workaround, the user can manually change "double" to "float" in the generated code if doubles are not desired.

Add README to the equations of motion subfolder

Change interface of 'Multicopter (Reduced) Attitude INDI Controller'

It could be usefull to change the interface of 'cntrlAttiRedIndi_lib/Multicopter (Reduced) Attitude INDI Controller'.

The inputs cmd_lean_angle_0_1, cmd_lean_direction_angle_0_2pi (lean command) could be changed to n_g_des. In 'lindiCopter_lib/LindiCopter Autopilot', n_g_des is already calculated in 'Pilot Reduced Attitude Commands' and all other blocks use n_g_des directly. Only 'Multicopter (Reduced) Attitude INDI Controller' uses the lean command instead and calculates n_g_des again in the block. Therefore we could directly use n_g_des instead.

However, it is necessary to check how this block is used in other models/libraries to ensure that this change makes sense in all cases.

Add readme for use of external controller with ArduPilot custom flight mode

'cntrlPosNdi_lib/NDI position controller for copters with stick inputs' is broken

... due to changes done to the interface of cntrlPosNdi_lib/NDI position controller for copters reference model

Add README to the environment subfolder

Ardupilot Compilation Error due to Matlab Coder naming the sections variable after its type in the trajectoryBus.

Problem Descripion

When the default trajectoryBus initialization is called, the bus contains an array of type sections with the name sections.
In Matlab Simulink this is not a problem, but if the Matlab coder is used to generate the Ardupilot Code the code doesn't compile.
This is because the coder generates a the following data structure:

struct of type sections containing the elements of one section
struct of type trajectoryBus
-- containing among other things an array of type sections called sections

Workaround

First possible workaround:
Changing the type of the struct in the generated code manually at the corresponding locations from sections to section.

Second possible workaround/solution:

initializing the trajectoryBus as it is
duplicating the bus sections under the name section
-- section = sections
changing the type of the sections array to section:
-- trajectoryBus.Elements(3).DataType = "section";
-deleting the bus called sections
-changing the type in the corresponding libraries.

Simple wing: Reference Points calculated incorrectly

Some reference points are not where they are supposed to be:

Issues:

Control Point

In function: simpleWingLoadParams:

P_cntrl == [in code] xyt_cntrl_pt_wing
sweep angle not considered

CP Error for large sweep angles

In function: simpleWingLoadParams()

variable name in code: wing.x_cp0_camber_wing
x_cp0 uses sin(phi) but should be tan(phi)

Add literature for quaternion functions

Literature for QuaternionController functions (Future publication or internal document)
Adding standard literature for elementary quaternion functions

Add iterative trajectory calculation

Trajectory: Error in case of single data type inputs

Using the ArduPilot template with single data type inputs, the trajectory functions throw an error because variables of data type double are written in variables with data type single.

Add README to the sensors subfolder

Trajectory: Improvements for trajGetMatch function

Matching should be designed more cleverly in the future. It was actually once thought that with the trajSetMatch the two fields active_section and current_time in the traj struct can be updated and that the next matching takes into account the state of these two fields (or alternatively in Simulink - depending on the structuring - via unit delay feedback of these two variables). In addition, one can of course implement many other improvements.

Simple wing: center of pressure at wrong position

I believe the position of the CP is wrong:

When calculating the CP in Line 43 in simpleWingLoadParams.m
sin(Phi) is used. This causes a great error when the sweep angle is large.

Compare calculation process:

phi = deg2rad(30);
error = tan(phi) - sin(phi)
error =

    0.0774

Compare error 2-Point-Model vs. Tornado:

This was tested using the wing from the new/eVTOL "TiltrotorAircraft":
The C_m0 is closer to the values calculated with tornado:

2-Point-Model:

(without applying moment correction)

using sin(phi) C_m0 = -0,259

using tan(Phi) C_m0 = -0.2516

Tornado

C_m0 = -0.1477

Add documentation to rotorcraft functions

deadband.m
mapActuatorToControlSurface.m
bemQuasiStaticThrustFromTheta.m
bemResponseAndControlDerivatives.m
bemThetaFromDesiredThrustAndInflow.m
bemThetaFromDesiredThrustCoefficentAndInflow.m
bemThrustFromInflowParameters.m
runRotorcraftAerodynamicsDemo.m (Rename it to something with 'example'?)

Report a bug

Is the file complete?
I run the check_ladac.m, but unfortunately MATLAB errors are reported as following

fuselageUnitTest/fuselageExampleScriptTest and fuselageUnitTest/fuselageLibTest have errors and has not finished running.

正在运行 TestWidth
.
已完成 TestWidth
__________

正在运行 ladacUnitTest
.
已完成 ladacUnitTest
__________

正在运行 actuatorsUnitTest
.
已完成 actuatorsUnitTest
__________

正在运行 airfoilAnalytic0515UnitTest

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum found.

Optimization completed because the size of the gradient is less than
the value of the optimality tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum found.

Optimization completed because the size of the gradient is less than
the value of the optimality tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>
.
已完成 airfoilAnalytic0515UnitTest
__________

正在运行 airfoilAnalytic9090UnitTest

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.
lsqcurvefit stopped because the size of the current step is less than
the value of the step size tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.
lsqcurvefit stopped because the size of the current step is less than
the value of the step size tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>
.
已完成 airfoilAnalytic9090UnitTest
__________

正在运行 airfoilAnalyticBlAlUnitTest

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum found.

Optimization completed because the size of the gradient is less than
the value of the optimality tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum found.

Optimization completed because the size of the gradient is less than
the value of the optimality tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>

Local minimum possible.

lsqcurvefit stopped because the final change in the sum of squares relative to 
its initial value is less than the value of the function tolerance.

<stopping criteria details>
.
已完成 airfoilAnalyticBlAlUnitTest
__________

正在运行 airfoilAnalyticSimpleUnitTest
.
已完成 airfoilAnalyticSimpleUnitTest
__________

正在运行 fuselageUnitTest

================================================================================
fuselageUnitTest/fuselageExampleScriptTest 中出现错误并且未运行完毕。
    --------
    错误 ID:
    --------
    'MATLAB:minrhs'
    -----------
    错误详细信息:
    -----------
    输入参数的数目不足。
    出错 width (第 10 行)
    W = size(X,2);
    出错 fuselageSetParams (第 27 行)
    fuselage.params.width(:) = width;
    出错 fuselageCreate (第 67 行)
    fuselage = fuselageSetParams( fuselage, filename );
    出错 fuselage_example (第 11 行)
    fuselage = fuselageCreate('fuselage_params_default',5,30);
    出错 run (第 91 行)
    evalin('caller', strcat(script, ';'));
    出错 fuselageUnitTest>fuselageExampleScriptTest (第 33 行)
    run('fuselage_example');
================================================================================
.
================================================================================
fuselageUnitTest/fuselageLibTest 中出现错误并且未运行完毕。
    --------
    错误 ID:
    --------
    'MATLAB:minrhs'
    -----------
    错误详细信息:
    -----------
    输入参数的数目不足。
    出错 width (第 10 行)
    W = size(X,2);
    出错 fuselageSetParams (第 27 行)
    fuselage.params.width(:) = width;
    出错 fuselageCreate (第 67 行)
    fuselage = fuselageSetParams( fuselage, filename );
    出错 fuselage_lib_example_init (第 11 行)
    fuselage = fuselageCreate('fuselage_params_default',5,20);
    出错 run (第 91 行)
    evalin('caller', strcat(script, ';'));
    出错 fuselageUnitTest>fuselageLibTest (第 40 行)
    run('fuselage_lib_example_init')
================================================================================
.
已完成 fuselageUnitTest
__________

正在运行 inducedVelocityUnitTest
...
已完成 inducedVelocityUnitTest
__________

正在运行 simpleFuselageUnitTest
.
已完成 simpleFuselageUnitTest
__________

正在运行 batteryUnitTest
.
已完成 batteryUnitTest
__________

正在运行 quatUnitTest
..........
已完成 quatUnitTest
__________

失败摘要:

     Name                                        Failed  Incomplete  原因
    =======================================================================
     fuselageUnitTest/fuselageExampleScriptTest    X         X       出错。
    -----------------------------------------------------------------------
     fuselageUnitTest/fuselageLibTest              X         X       出错。
rt =
  24×6 table
                                      Name                                      Passed    Failed    Incomplete    Duration       Details   
    ________________________________________________________________________    ______    ______    __________    _________    ____________
    {'TestWidth/TestWidth'                                                 }    true      false       false        0.034523    {1×1 struct}
    {'ladacUnitTest/Test_all_library_links_resolved'                       }    true      false       false          18.233    {1×1 struct}
    {'actuatorsUnitTest/actuatorsLibExampleTest'                           }    true      false       false          0.2171    {1×1 struct}
    {'airfoilAnalytic0515UnitTest/airfoilAnalytic0515AlExampleScriptTest'  }    true      false       false          1.6437    {1×1 struct}
    {'airfoilAnalytic9090UnitTest/airfoilAnalytic9090ExampleScriptTest'    }    true      false       false          2.4375    {1×1 struct}
    {'airfoilAnalyticBlAlUnitTest/airfoilAnalyticBlAlExampleScriptTest'    }    true      false       false           2.163    {1×1 struct}
    {'airfoilAnalyticSimpleUnitTest/airfoilAnalyticSimpleExampleScriptTest'}    true      false       false           0.103    {1×1 struct}
    {'fuselageUnitTest/fuselageExampleScriptTest'                          }    false     true        true         0.028166    {1×1 struct}
    {'fuselageUnitTest/fuselageLibTest'                                    }    false     true        true         0.011417    {1×1 struct}
    {'inducedVelocityUnitTest/Test_Vx_Vz_equal_Zero'                       }    true      false       false       0.0039576    {1×1 struct}
    {'inducedVelocityUnitTest/Test_Vertical_Decent_Slow'                   }    true      false       false        0.003024    {1×1 struct}
    {'inducedVelocityUnitTest/Test_Vertical_Decent_Fast'                   }    true      false       false       0.0024349    {1×1 struct}
    {'simpleFuselageUnitTest/fuselageExampleScriptTest'                    }    true      false       false         0.73661    {1×1 struct}
    {'batteryUnitTest/batteryExampleScriptTest'                            }    true      false       false         0.29308    {1×1 struct}
    {'quatUnitTest/Test_quatMultiply'                                      }    true      false       false        0.074671    {1×1 struct}
    {'quatUnitTest/Test_quatConj'                                          }    true      false       false          0.1076    {1×1 struct}
    {'quatUnitTest/Test_quatInv'                                           }    true      false       false         0.10452    {1×1 struct}
    {'quatUnitTest/Test_quatDivide'                                        }    true      false       false        0.079949    {1×1 struct}
    {'quatUnitTest/Test_quatNormalize'                                     }    true      false       false        0.084691    {1×1 struct}
    {'quatUnitTest/Test_quatNorm'                                          }    true      false       false        0.078588    {1×1 struct}
    {'quatUnitTest/Test_quatLog'                                           }    true      false       false        0.079613    {1×1 struct}
    {'quatUnitTest/Test_quatExp'                                           }    true      false       false        0.090167    {1×1 struct}
    {'quatUnitTest/Test_quatIntegration'                                   }    true      false       false        0.031214    {1×1 struct}
    {'quatUnitTest/Test_quatLogDivide'                                     }    true      false       false        0.079631    {1×1 struct}
历时 36.998017 秒。

UnitTest Fail

The following UnitTests fail in LADAC main branch:

airfoilAnalytic0515UnitTest/airfoilAnalytic0515AlExampleScriptTest
airfoilAnalyticBlAlUnitTest/airfoilAnalyticBlAlExampleScriptTest
fuselageUnitTest/fuselageLibTest

Error in License Disclaimer

The License Disclaimer contains a typo (Disclamer -> Disclaimer)
It seems that not all files already use GPL-3.0-only (e.g. control/control_allocation/caWlsCopterUpset.m)

Both things could be updated in one go.

C frame

Hello there
Can you explain, what is "c frame" ?!

Adding External Reset to the INDI Controller Blocks

For further changes to the Attitude controller it might be advantageous to add an external reset for the reference model.
Since this is needed when the Simulink controller consists of more than one flightmode and an inflight mode switch is desired.
Furthermore the initial_yaw input might be directly attached to the current attitude to reduce the number of inputs.

ArduPilot interface: Werror = overflow using trajectory blocks

Exponents greater than E300 or E-300 appear in the generated code C++ code of Matlab.
ArduPilot throws an error when building for a microcontroller.

Trajectory-based controllers did not work in flight tests

The Dragonfly autopilot (control/autopilots/dragonfly) did not work on Hardware (see also in LADAC-Examples: iff-gsc/LADAC-Examples#2).
It was tested for Minnie (Matek H743) and Bebop 2.
In both tests the unexpected behavior occurred as soon as the Simulink flight mode was enabled.
Unfortunately, there are no logs for Bebop 2.
The logs of Minnie did not reveal any performance issues.
Note that the flight mode worked well in SITL.

iff-gsc / ladac Goto Github PK

ladac's People

Contributors

Stargazers

Watchers

Forkers