[Research] Model of Drone

[Q3rkses]

Task description

Create 6DOF kinematic/kinetic model for the drone. Example of such model can be found in MCH by T. I. Fossen chapter 2 and 3.

Suggested workflow

Preparations,

1. Read chapter 2 and 3 in MCH by T.I Fossen and familiarize with both euler angle and quaternion based descriptions of the equations of motion.
2. Talk with mechanical team about important specifications for the drone i.e weight distribution (M i.e added mass matrix), pressure centre (PM), center of mass (CM), center of byouancy (CB) etc...

Main work,

1. Research Drone/Marinecraft Kinematics
2. Implement Drone model in code and document model on vortex wiki page.
3. Make API such that other nodes (perhaps in the future) could simply import parts of, or the whole kinematic model of the drone.

Specifications

Theoretically / Simulation

• Kinematic model closely resembles real dynamics of the drone
• Kinematic model is implemented in the simulator such that the dynamics of the simulator closely resemble real testing

Passes specific tests

• Real ROSbags of thruster input and sensor output are within reasonable bounds when played in the simulator with the newly crafted kinematic model

Contacts

Control lead - @Q3rkses
Software lead - @jorgenfj

Code quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is well documented on the wiki

[Andeshog]

@Talhanc should present an overview over what he did last year and what can be done better (if any) for the new drone

[Talhanc]

I can have a guest presentation about the model sometime :)