Last updated: 2021-09-12

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Knit directory: VSA_altitude_hold/

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File Version Author Date Message
Rmd ff213fa Ross Gayler 2021-09-11 WIP
html ff213fa Ross Gayler 2021-09-11 WIP
html de8dbda Ross Gayler 2021-08-18 Build site.
Rmd af002d9 Ross Gayler 2021-08-18 Add linear spline scalar encoder
html af002d9 Ross Gayler 2021-08-18 Add linear spline scalar encoder
Rmd 867778a Ross Gayler 2021-08-11 Add multi target simulation data
html 867778a Ross Gayler 2021-08-11 Add multi target simulation data
Rmd 3f64430 Ross Gayler 2021-08-03 Add code for VSA basic operators
html 3f64430 Ross Gayler 2021-08-03 Add code for VSA basic operators
html e256bf9 Ross Gayler 2021-07-07 Build site.
html 7eae4c3 Ross Gayler 2021-06-26 Check simulation data: initial values and z versus dz
Rmd c39cb39 Ross Gayler 2021-06-25 Take first look at simulation data
html c39cb39 Ross Gayler 2021-06-25 Take first look at simulation data
html 456a363 Ross Gayler 2021-06-21 Add automatic rendering of DFDs
html d8b9d53 Ross Gayler 2021-06-18 Add DFD for Design 01
Rmd 0b7e1d4 Ross Gayler 2021-06-17 Publish initial docs
html 0b7e1d4 Ross Gayler 2021-06-17 Publish initial docs
Rmd 87c00d2 Ross Gayler 2021-06-17 Start workflowr project.

This is the website for the research project “VSA Altitude Hold”.

If you have cloned the project to a local computer this website is rendered in the docs subdirectory of the project directory.

If you are using workflowr to publish the research website it will also be rendered online to GitHub Pages.

This page acts as a table of contents for the website. There are links to the web pages generated from the analysis notebooks and to the rendered versions of any manuscripts/documents/presentations.


Overview documents

Design Notes

This notebook is for keeping notes about potential approaches for implementing altitude hold in VSA.


Publications

Links to rendered manuscripts and presentations will go here.


Empirical Notebooks

This project repository deals with the conceptual issues of using VSA for altitude hold. Actual implementation occurs in the gym-copter repository So the empirical work in this repository is limited to exploration of VSA-specific issues.

Simulation Data

These notebooks are focused on analyses of data dfrom the simulated multicopter.

Characterise Simulation Data

These notebooks characterise data generated by the simulation of the classically implemented altitude hold controller. We need to understand the properties of the signals in order to design VSA implementations of them.

- Single Target Simulations

The set of simulation data files analysed in this notebook have a single target altitude that is constant for the duration of each simulation.

- Multiple Target Simulations

The set of simulation data files analysed in this notebook have multiple target altitudes within each simulation.

PID Task Analysis

Examine the function from PID inputs to PID output as a statistical exercise with the objective of characterising the complexity of the function. This is intended to inform the necessary complexity of the VSA implementation.

Software

These notebooks are focused on the software design aspects of this project.

Simulation Framework

This notebook implements gives examples of running the software framework for simulation of the PID altitude hold controller.

VSA Basic Operators

This notebook implements and tests the basic VSA operators. The reasoning behind the design choices id given in the Design Notes notebook.

Encoding and Decoding Scalars

These notebooks describe the implementation of encoders and decoders for transforming numeric scalar values to and from VSA vectors.

- Linear Interpolation Spline

This notebook describes the implementation of the linear interpolation spline encoder/decoder.

VSA Models

These notebooks contain VSA implementations of the PID controller.

VSA Implementation of PID Task Analysis

VSA implementation of the statistical, feed-forward, input/output function developed in the PID Task Analysis notebook.