andybarry/simflight

Simulation environment for flight systems

simflight

Simulation environment for flight systems, based on drake.

Dependancies

• MATLAB
• Drake

Examples

• Example logs can be downloaded here:
• For system identification: http://abarry.org/files/logs/odroid-gps2-2015-09-17-field-test.zip
• Obstacle avoidance: http://abarry.org/files/logs/2015-with-obstacles-mat-and-LCM-logs.zip
• Datafiles: https://drive.google.com/drive/folders/0B504R2Bs0QpzcVlBRXhsREVLMFE

Running system identification using logs

• Use do_pem.m for system identification of the model tbsc_model.m:

% Load dependancies
>> addpath('<path to Drake, for example: /home/user/drake/build/matlab/>')
>> addpath_drake

% Run PEM system identification
% Edit do_pem.m and fill in:
%   logfile_path
%   logfile_name

% Execute
>> do_pem

Generating a trajectory library

>> BuildTrajectoryLibrary

Use a trajectory library

>> lib.ListTrajectories

0: TI-straight-R-200
1: TI-climb-R-200
2: takeoff-no-throttle
3: TI-left-turn1-R-200
4: TI-right-turn1-R-200
5: TI-aggressive-left-turn2-R-200
6: TI-aggressive-right-turn2-R-200

>> lib.DrawTrajectories

>> lib.SimulateTrajectory(0)

    Simulating: "TI-straight-R-200" for 1 second(s) with default initial conditions...

simflight's Issues

Post example images online

Logfile Example

Hi,
would it be possible to share some .mat files for testing the project, because that
the setup of the code need logfile_name linking to the specific log data.

realtime_path = '/home/abarry/realtime/';
logfile_path = '/home/abarry/rlg/logs/2015-09-17-field-test/odroid-gps2/';

logfile_name = 'lcmlog_2015_09_17_04.mat';

Thanks

Can not identify drake related class

Hi, @andybarry
I have git clone and complied drake in R2017a and Ubuntu 16.04. I tried examples in drake like Quadrotor and Quadrotor2D, both works well. Then I git clone the simflight repository, it doesnot work. Log are as the following. From the console infos, there is something wrong with the drake class. In the Quadrotor example, the class "drake.util.BotLCMGLClient" is also been used. So could you help figure it out? Thank you very much.

'LCM: Disabling IPV6 support
LCM: TTL set to zero, traffic will not leave localhost.
Undefined variable "drake" or class "drake.util.BotLCMGLClient".

Error in DrawTrajectoryLcmGl (line 32)
lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(), lcmgl_name);

Error in TrajectoryLibrary/SimulateTrajectory (line 132)
DrawTrajectoryLcmGl(traj.xtraj, ['Nominal: ' traj.name], options);

Error in TrajectoryLibrary/AddStabilizationTrajectory (line 219)
[~, simtraj] = obj.SimulateTrajectory(traj_num, obj.ti_rollout_time);

Error in AddTiqrControllers (line 5)
[lib_just_for_rollout, traj_num] = lib.AddStabilizationTrajectory(x0, u0, gains.K_pd, [name '-pd-no-yaw']);

Error in FindTrimDrake (line 116)
lib = AddTiqrControllers(lib, 'TI-straight', A, B, x0, u0, gains);

Error in BuildTrajectoryLibrary (line 15)
[x0, u0, lib] = FindTrimDrake(p, lib, gains_ti);'