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16-665 Air Mobility Assignment Last Updated: 10 October 2019 Shubham Garg (ssgarg) and Hannah Lyness (hlyness)

• main.m: central function that calls all other functions. Takes in question number. Make sure TAs can run your code by entering main(2), for example.
  • lookup_waypoints.m: write this file to store and retreive waypoints for each question
  • trajectory_planner.m: write this function to turn waypoints into a time-discritized trajectory
  • attitude_planner.m: write this function to plan attitude
  • position_controller.m: write this function to find desired acceleration
  • attitude_controller.m: write this funciton to find desired moment
  • motor_model.m: write this funciton to turn desired attributes into motor RPMS
  • dynamics.m: write this function to get the change in state given desired state
  • plot_quadrotor_errors.m: file given to you to plot desired, actual, and error values

• state: quadrotor pose
  • Size: 16x1
  • 1:3: position
  • 4:6: linear velocity
  • 7:9: orientation
  • 10:12: angular velocity
  • 13:16: motor speeds
• trajectory_matrix: trajectory discritized by time step
  • Size: 15 x n where n is the number of time steps
  • 1:3: position
  • 4:6: linear velocity
  • 7:9: orientation
  • 10:12: angular velocity
  • 13:15: linear accelerations
• actual_state_matrix: actual state discritized by time step
  • Size: 15 x n where n is the number of time steps
  • 1:3: position
  • 4:6: linear velocity
  • 7:9: orientation
  • 10:12: angular velocity
  • 13:15: linear accelerations
• actual_desired_state_matrix: desired state discritized by time step (not just the trajectory, this is what the controllers plan for)
  • Size: 15 x n where n is the number of time steps
  • 1:3: position
  • 4:6: linear velocity
  • 7:9: orientation
  • 10:12: angular velocity
  • 13:15: linear accelerations
• current_state: current struct, used to make feeding current state into control functions easier
  • Size: struct with 5 elements: pos, vel, rot, omega, rpm
• desired_state: desired struct, used to make feeding current state into control functions easier
  • Size: struct with 5 elements: pos, vel, rot, omega, acc