bvanderveen/fcs

a flight control system written in C with support for testing in x-plane

fcs's Issues

Figure out how to switch control from manual to computer.

trajectory planning

other ideas

• way point sequences/linger
• save GPS location to return home/mission destination/etc
• maintain pattern w.r.t. ground despite wind
   - transitioning between trajectories/modes

Servo controller driver

Determine feasibility of sending real-time telemetry over X-Bee

Would be great to have a glass cockpit running on the laptop. Especially to aid recovery.

Deploy sim into a given xplane situation

Likely to be used in a tight development feedback loop, needs to be quick and easy. Probably a separate tooling daemon (not a part of the main fcs binary) for kicking xplane into doing various common things.

Improve feedback loop

Current feedback:

• Build
• Kill old process
• Optionally reset X-Plane (home runway, at-altitude, other scenario)
• Unlock the brake if on runway, extend flaps, deal with gear
• Start new process

Meanwhile X-Plane chews my CPU.

Need to get it down to one command to unpause X-Plane process, launch control process, reset scenario, etc.

Easy interface for editing GPS waypoints

Make or re-use a course editor. Also includes tweaks to core to enable taking new waypoint list as input in real-time.

Procure servo controller

stability control

Correct upsets in pitch, roll, yaw due to turbulence/wind. PID loop?

Read data from IMU.

figure out how to

• physically connect it to raspberry Pi
• read data from it

Flash a Linux onto SD card

Procure GPS

Canonical inputs/outputs/data structures

Essentially an interface implemented by both the xplane backend and the IMU backend.

Breadboard, wire, regulator

Read from GPS for position+altitude

Energy management

• altitude/airspeed adjustment
• how does this relate to high bank angles?

Impl writing xplane data packets to socket

create enum/map for channel names/numbers

Procure IMU

SparkFun 9-DoF stick looks cool. $100-ish.

Electronics enclosure

Procure X-Bee or similar radio

3d smoke line art

Could do all manner of cool stuff using crazy functions and Frenet-Serret coordinates.

Pitot-static system

Ability to deploy to raspberry Pi

Must be able to update online. No rebooting or mucking with SD cards.

Find or write IMU filter to provide sensor state.

Everyone seems to be talking about Kalman filters.

trajectory following capability

or something? seems like flying to waypoints and flying in arbitrary circles is pretty much the same problem. pick a power setting and go for it.

also fly the tail. no lateral g's! perfect turns.