Simulation environment for flight systems, based on drake.
- MATLAB
- Drake
- Example logs can be downloaded here:
- For system identification: http://abarry.org/files/logs/odroid-gps2-2015年09月17日-field-test.zip
- Obstacle avoidance: http://abarry.org/files/logs/2015-with-obstacles-mat-and-LCM-logs.zip
- Datafiles: https://drive.google.com/drive/folders/0B504R2Bs0QpzcVlBRXhsREVLMFE
- Use
do_pem.mfor system identification of the modeltbsc_model.m:
% Load dependancies >> addpath('<path to Drake, for example: /home/user/drake/build/matlab/>') >> addpath_drake % Run PEM system identification % Edit do_pem.m and fill in: % logfile_path % logfile_name % Execute >> do_pem
>> BuildTrajectoryLibrary>> lib.ListTrajectories
0: TI-straight-R-200
1: TI-climb-R-200
2: takeoff-no-throttle
3: TI-left-turn1-R-200
4: TI-right-turn1-R-200
5: TI-aggressive-left-turn2-R-200
6: TI-aggressive-right-turn2-R-200
>> lib.DrawTrajectories
>> lib.SimulateTrajectory(0)
Simulating: "TI-straight-R-200" for 1 second(s) with default initial conditions...