...
Model Predicative Control
Existing Information:
Landing Procedure
...
Takeoff Procedure
...
Functions
| Code Block |
|---|
double getTakeoffAltitudeTarget(double currentAltitude); |
When first called set the current height as ground, then return the takeoff altitude target (ground height + TAKEOFF_TARGET).
| Code Block |
|---|
double getLandingAltitudeTarget(double currentAltitude); |
This function returns the ground height set during takeoff and uses it as the target landing altitude.
| Code Block |
|---|
AM::AttitudeManagerInput createLandingWaypoint(const LOS::LosSFData & input); |
Calculates the waypoints that the drone should follow during landing. Missing horizontal components as of now.
| Code Block |
|---|
AM::AttitudeManagerInput createTakeoffWaypoint(const LOS::LosSFData & input); |
Returns the waypoints that should be followed for takeoff.
| Code Block | ||
|---|---|---|
| ||
double getSpeedTarget(double currentAltitude, double rangeConstant); |
Return desired climb speed for both landing and takeoff.
| Code Block | ||
|---|---|---|
| ||
double getRangeConstant(double midpointAltitude); |
Returns range constant to calculate velocity.
Useful Documents to look over
https://liu.diva-portal.org/smash/get/diva2:1055556/FULLTEXT01.pdf
| View file | ||
|---|---|---|
|