randybeard / mavsim_public Goto Github PK

When you click on the chap10.pptx link it opens a PDF file (chap10.pdf).

The following link is broken:

Dan Richards, 2022 Unit Tests on several chapters

Hello,

It seems like the model in the mavsim_simulink/chap2/drawSpacecraft.m is rotated around the wrong axes. In the provided file, the model is always rotated around the axes of inertial system (k^v, j^v and i^v), however yaw, pitch and roll are defined as rotations around the axes k^v, j^v1 and i^v2, respectively. As an example, if you add a yaw angle followed by pitch, you will observe the model rolling even if a roll angle is set to zero (see example below).

Is this the intended behavior?

Thank you.

Dear randybeard.

I really thank you to provide this code. It helps me to improve my understanding of aircraft theory.
I want to check whether my solution is correct.
How can I get full solution of matlab and simulink?

Sincerely, Kim.

In appendex B.5 in the uavbook.pdf, it references a method of converting Rotation Matrices to Quaternions from:
S. Sarabandi and F. Thomas, “Accurate computation of quaternions from rotation matrices,” in Advances in Robot Kinematics (J. Lenar- cic and V. Parenti-Castelli, eds.), pp. 39–46, Springer, 2019.
However, it is missing details on inserting the signs for the quaternions as described in "Accurate Computation of Quaternions from Rotation Matrices" on page 5:
"Due to the presence of square roots, the signs of qi, i = 1, . . . , 4 are undefined.
As in other methods where these signs are undefined [2], if we assume that q1 is
positive, then, according to (12), (13), and (14), we have to assign the signs of
r32−r23, r13−r31, and r21−r12, to q2, q3, and q4, respectively."

Hello,
I noticed a typo error at page 78 in figure 5.4 the incoming disturbance should be d_\beta and not d_\phi2.