udaan.control.quadrotor.propeller_allocation module¶

Direct propeller force allocation controller.

class udaan.control.quadrotor.propeller_allocation.DirectPropellerForceController[source]¶

Bases: Controller

__init__(**kwargs)[source]¶

compute(*args)[source]¶

Compute propeller forces given current state.

Returns:: four propeller forces in N
Return type:: ndarray

compute_alloc_matrix()[source]¶

Compute propeller force allocation matrix.

Propeller layout:

 (1)CW    CCW(0) [-1]      y^
      \_^_/                 |
       |_|                  |
      /   \                 |
(2)CCW     CW(3)           z.------> x