Bilag 1: Helikopterens fysiske egenskaber - SmartData

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Enumerations Functions 4 <strong>Bilag</strong> 12: Anvendte C++ programmer enum OrderOfRotation { YAW, PITCH, ROLL } Matrix< 3, 3, double > euler2DCM (double yaw, double pitch, double roll) Matrix< 3, 3, float > euler2DCM (float yaw, float pitch, float roll) Vector< 4, double > euler2quaternion (double yaw, double pitch, double roll) Vector< 4, float > euler2quaternion (float yaw, float pitch, float roll) template Matrix< 3, 3, T > quaternion2DCM (const Vector< 4, T > &q) template Vector< 3, T > quaternion2euler (const Vector< 4, T > &q) Vector< 4, double > DCM2quaternion (const Matrix< 3, 3, double > &DCM) Vector< 4, float > DCM2quaternion (const Matrix< 3, 3, float > &DCM) Vector< 3, double > DCM2euler (const Matrix< 3, 3, double > &DCM) Vector< 3, float > DCM2euler (const Matrix< 3, 3, float > &DCM) template Vector< 3, T > acc2euler (const Vector< 3, T > &acc) template Vector< 4, T > acc2quaternion (const Vector< 3, T > &acc) template Vector< 3, T > quaternion2g (const Vector< 4, T > &q) Generated on Fri Dec 5 17:09:09 2003 for Autostabilisering af en modelhelikopter by 1.3.4
IoCtrl.h File Reference Detailed Description Abstraction for I/O controller HW onboard the helicopter. #include "VectorN.h" #include "Win32/ComPort.h" Classes class Accelerometers class Gyros class IoCtrl Functions void printPDU (const uchar pdu[IoCtrl::PDU_LENGTH]) 5 <strong>Bilag</strong> 12: Anvendte C++ programmer void calibrateAccelerometersAndGyros (IoCtrl &ioctrl, Vector< 3 > *OUT accBias, Vector< 3 > *OUT gyrBias) Generated on Fri Dec 5 17:09:07 2003 for Autostabilisering af en modelhelikopter by 1.3.4
Page 1 and 2: Bilag 1: Helikopterens fysiske egen
Page 3 and 4: 3 Bilag 1: Helikopterens fysiske eg
Page 5 and 6: Bilag 2: Pulse Position Modulation
Page 7 and 8: Bilag 4: Andre modelhelikopter-base
Page 9 and 10: Bilag 5: I/O controller elektrisk k
Page 11 and 12: Bilag 6: Udsnit af MAX232 datablad
Page 13 and 14: Bilag 7: Kommunikations-protokol me
Page 15 and 16: Bilag 8: Datablad for accelerometer
Page 17 and 18: Bilag 10: Frekvenskarakteristik af
Page 19 and 20: Bilag 12: Anvendte C++ programmer 1
Page 21: Attitude estimation library Detaile
Page 25 and 26: 2 Bilag 13: Eulervinkler Da matrix-
Page 27 and 28: Vi kan alternativt udtrykke en quat
Page 29 and 30: 4 Bilag 14: Quaterioner Quaternione
Page 31 and 32: Bilag 15: Tidskonstant for rotorsys
Page 33 and 34: RPM-signalet approksimeres med et s
Page 35 and 36: Bilag 16: Altitude estimering med K
Page 37 and 38: Kalman filteret kan nu beregnes vha
Page 39 and 40: Bilag 16: Altitude estimering med K
Page 41 and 42: Figur 2 herunder viser outputtet x1
Page 43 and 44: Bilag 17: Resumé af journal 1 Bila

Bilag 1: Helikopterens fysiske egenskaber - SmartData

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