Quadcopter Project Simulation Thrust vector problems

Question

Tristan Struckmeier 2017-2-22

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/326395-quadcopter-project-simulation-thrust-vector-problems

编辑： Tristan Struckmeier 2017-2-22

Hi guys,

at the moment I'm working on the quadcopter project you can open with 'asbQuadcopterStart'. It is important for my bachelorthesis and drives me crazy somehow. What I want to do is to use this simulation, to simulate a software which I want to implement later on a real quadcopter. Therefore I have to unterstand the simulation. As there are no real manuals to read except the one for the basics by mathworks I hope someone is kind of a pro with the Quadcopter Project. At first I just need to get control about the quadcopter. I changed the variants.command to 2 to use pre-saved data.

(Picture 1)

On the left site of Picture 1 you can see my code to give command to the quadcopter.

(Picture 2)

In picture 2 you can see that I changed the way of the throttle_cmd to give commands to the quadcopter and not to depend on the sensors. As you can see in picture 1 I gave no command at all, but the motor torque and thrust still worked and the quadcopter went up. My question now is where does this vector comes from?

If I give in at first a positive value followed by a negative value it goes up and down, but as soon as the negative command stops, it goes right up again.

I hope someone had the same problem or works on the project at the moment and can help me.

Greetings Tristan