oooark scicoslab tutorial - autopilot design for arducopter demo


This video walks you through the capabilities of the oooark scicoslab toolbox. It also demos the features on a model of the arducopter.

Views: 1161

Comment by pixhawk on March 5, 2011 at 11:39am
Nice! Looking forward to use it in our research as simulation platform. This makes it way easier to properly simulate and develop controllers.
Comment by robert bouwens on March 5, 2011 at 12:33pm

again, nice!

cany you create a script to download?

the video is not so good getting all the details about the correct typing.

Comment by Darren on March 5, 2011 at 12:48pm

Looking great.

One question, during the run of quad; I noticed all four blades are spinning CCW... could that be part of instability?


Developer
Comment by James Goppert on March 5, 2011 at 12:56pm
Ahh.. good catch Darren.. its just a visualization issue. I'll fix it. The instability was due to the controller that I added on the forward velocity loop. It was just a gain and I should have left it that way. The transfer function from pitch rate command to forward velocity was already type 1 so adding the PID controller there was a bad move.
Comment by David Witten on March 5, 2011 at 2:59pm
git clone ssh://... wants a password.  What do I do?

3D Robotics
Comment by Chris Anderson on March 5, 2011 at 3:36pm
This looks awesome! Do you have a link to where we can learn more?

Developer
Comment by James Goppert on March 5, 2011 at 5:03pm

Sure. The script is already in the git repository so here is what you need to do.

1. sudo apt-get install git (or download git from the web)
2. git clone git://oooark.git.sf.net/gitroot/oooark/oooark
3. ./autobuild.sh -> select grab debian dependencies if you are using ubuntu or debian
4. ./autobuild.sh -> select build in source
5. After it build successfully type scicoslab, this will start scicoslab using the current git repository as the toolbox directory and start the arducopter demo.

The ssh:// url I posted earlier is just for developers. Let me know if you are interseted in contributing.

Here are some links to oooark: http://oooark.git.sourceforge.net/ <-- you can find the git repo here

A short intro on the pixhawk wiki: http://pixhawk.ethz.ch/wiki/openmav/mavsim


 

Comment by David Witten on March 5, 2011 at 5:45pm

Thanks.  I am very interested in tools like this, but I only wish that I could contribute.

 

Unfortunately the Scicoslab download server does not seem to be available.  I can get the .deb package, but not the source.  Any idea if this will work under Ubuntu 10.10?

 


Developer
Comment by James Goppert on March 5, 2011 at 5:54pm
Yeah, the pixhawk guys are using ubuntu with this so should be good to go. Add these lines to your ubuntu sources and you can install the scicoslab package from my apt repository if you are using 32 bit.

add to /etc/apt/sources.list

# Hsl
deb http://hsl.dynalias.com/debian/ sid main

Then to install scicoslab: sudo apt-get install scicoslab-gtk
To install oooark: sudo apt-get install oooark

Note that the oooark is a cmake deb package so it doesn't make sure you have all the dependencies. So I'd recommend you build from source using git as described unless you are sure you have them all.

Developer
Comment by James Goppert on March 5, 2011 at 7:52pm
Just fixed a few issues in the dynamics for the quad and the controllers seem to be behaving as designed. http://www.youtube.com/watch?v=2-HvMI1B710 Going to go back later and see if we can't decrease the damping a bit to get more dead beat, fast, responses.

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