[ Please cc me on any replies. Thanks! ]
Cameron Moore wrote:
> * [EMAIL PROTECTED] (Martin Spott) [2002.03.13 06:39]:
> > Hello, is anyone following the 'autopilot-devel' mailing list ?
>
> Where's this autopilot-devel list you're talking about?
The overview is available from:
http://autopilot.sourceforge.net/
We're working on building a Free Software autopilot for RC
helicopters. Along the way we've put together a three axis,
six degree of freedom IMU, a Kalman filtering library to
produce an INS and most recently a helicopter simulator
that works under Linux. Details on the sim:
http://autopilot.sourceforge.net/sim.html
The math model in the simulator is based on Aaron Kahn's
code that he developed at GA Tech to simulate an X-Cell 60
helicopter. The underlying math is the NASA Simplified
Helicopter Math Model and has some issues with high speed
forward flight. However, for writing code that just hovers
based on the IMU data, it should work well.
The graphics are simplistic OpenGL polyhedrons, although I've
started using the OpenGC instruments for displaying status
and attitude information. Since the goal is to have the software
control a real helicopter, it would be nice to have the instrument
panel look good on the ground station. A screen shot showing
the OpenGC Boeing 777 AI superimposed on the ground view of the
model:
http://autopilot.sourceforge.net/images/sim.04.png
Martin suggested that we find a way to integrate the flight model
into FlightGear. This would allow us to have more interesting
graphics and easier integration with OpenGC. I'm all for it,
especially if we can have an easy way to output the inertial
measurements to the AHRS / INS software.
It would also be interesting to compare the flight model to
data recorded from the real helicopter as it flies. If we input
the same control commands to the model and the real one,
and record the inertial data, we could better refine the model.
Trammell
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