hi, am a working in hardware in the loop simulation (HILS) for ardupilot mega.
the purpose of my research is to ensure that ardupilot control system works well,before I do the actual flight test.
the difference between what I do with pre-existing HILS is a model airplane that I use is a model of state space and not a model of an aircraft that already exists on xplane.
The following is an overview of its design scheme:
I have managed to describe the control block diagram for stabilization control mode from ardupilotmega.pde coding ,and compare the results between simulation control dan ardupilot hardware control. the following picture is the block diagram for stabilization control mode in matlab/simulink :
inside logitudinal block
inside lateral directional block
now, the problem is:
I have difficulty in describing the existing control algorithms ardupilotmega.pde coding to the form of control block diagram for auto control mode, because I do not understand the coding of the overall ardupilotmega.pde
so far, for the auto control mode, this is what I have gained:
-i a am still find a solution for make a gps simulation. now my idea is using yaw angle,speed,and inital position to estimate next position (some one help me)
-I am still trying to understand how the working process of waypoint tracking in ardupilotmega.pde coding , so that I can describe the block diagram in matlab / simulink. (some one help me)
new update (1 juni 2012)
this is my video off waypoint tracking simulation