Python-based controllers and estimators
Posted: Wed Jun 24, 2020 8:30 am
Good afternoon
I am new to the embedded world, being more focused on Matlab as a development environment. I want to use the CF as a training platform for control and estimation. As far as I understand it, the following estimators are needed and are actually implemented in the firmware:
1 - The attitude estimator for the inner loop control
2 - The position and velocity estimator for the outer control loops.
I addition to this I understand that one needs the following control loops:
- Perhaps rate control
- Attitude control
- Perhaps velocity control
- Position control
- Altitude control
Having said all of this, I want to come to my questions:
- Which of these loops and estimators can be implemented in an off-board Python implementation?
- Can someone please give a starting point or some example code for starting such a Python controller?
I would prefer to go as far as possible in the control system development before I have to jump into the embedded code.
Regards
Francois
I am new to the embedded world, being more focused on Matlab as a development environment. I want to use the CF as a training platform for control and estimation. As far as I understand it, the following estimators are needed and are actually implemented in the firmware:
1 - The attitude estimator for the inner loop control
2 - The position and velocity estimator for the outer control loops.
I addition to this I understand that one needs the following control loops:
- Perhaps rate control
- Attitude control
- Perhaps velocity control
- Position control
- Altitude control
Having said all of this, I want to come to my questions:
- Which of these loops and estimators can be implemented in an off-board Python implementation?
- Can someone please give a starting point or some example code for starting such a Python controller?
I would prefer to go as far as possible in the control system development before I have to jump into the embedded code.
Regards
Francois