SynthesizePolynomialTrajectory(t, prx, pry, prz, pyaw, Ta)

Function to synthesize polynomial trajectories given optimal polynomial coefficients from JuliaSimControl

Arguments:

-t: Current time -prx: Optimal polynomial coefficients for x direction motion of the quadrotor -pry: Optimal polynomial coefficients for y direction motion of the quadrotor -prz: Optimal polynomial coefficients for z direction motion of the quadrotor -pryaw: Optimal polynomial coefficients for yaw direction of the quadrotor -Ta: Input array of time values to take between two waypoints

x0_vec = build_initial_conditions(x, v, R, ω; quad_mtk = quad_mtk, func_sys = func_sys)

Takes the FunctionSystem and ODESystem for the Quadrotor and builds the initial conditions vector

Output:

-x0_vec : Vector of initial conditions for the built model of the Quadrotor Input: -quad_mtk: MTK ODESystem model of the quadrotor -func_sys: JuliaSimControl FunctionSystem of the quadrotor dynamics -x : Vector of the initial position of the Quadrotor -v : Vector of the initial velocity of the Quadrotor -R : Initial rotatiional matrix for orientation of the Quadrotor -ω : Vector of the initial rotational velocity of the Quadrotor

func_sys,mtk_quad = build_quad_dynamics(QuadModel)

Takes the parameters of the Quadrotor model and builds the FunctionSystem and ODESystem for the Quadrotor

Output:

-func_sys : JuliaSimControl FunctionSystem of the quadrotor dynamics -mtk_quad : MTK ODESystem model of the quadrotor Input: -QuadModel : Quadrotor Model struct

T = geometric_force_controller(xdes, x, v, R, QuadModel, ControlGains)

Thrust generating feedback control function for Quadrotor

Output:

-T : Thrust control Input: -xdes : Desired state and derivatives (up to 3rd order) -x : Position state vector -v : Velocity state vector -R : Rotational matrix orientation of the Quadrotor -QuadModel : Quadrotor Model struct -ControlGains : Control Gains struct

quad_simulator(
    time_arr,
    x_arr,
    y_arr,
    z_arr,
    quat_arr;
    model = quad,
    mat = carbon,
    quad_scale = 0.5,
    limit_scene = Rect(Vec3f(-0.1, -0.1, 0), Vec3f(0.5, 0.5, 0.5)),
)

Function to run animation of the simulation of the Quadrotor on GLMakie

Arguments:

-time_arr: Time steps as an SparseArrays -x_arr: x coordinates of the quadrotor for given timearr -`yarr: y coordinates of the quadrotor for given time_arr -zarr`: z coordinates of the quadrotor for given timearr -quat_arr: Array of quaternion orientations for quadrotor -model: Model of quadrotor to be used (.stl or .obj files preferred) -mat`: Matcap material for the model

quadrotor_RtoQuat(R_arr)

Function to compute quaternion equivalent, given the rotation matrix of the Quadrotor Arguments: -R_arr : Rotation matrix data of the Quadrotor

quadrotor_dynamics!(dxu, xu, p, t, func_sys)

Function to compute derivative of the state vector of the Quadrotor Arguments: -dxu : Derivative of the combined state and control vector of the Quadrotor -xu : Combined state and control vector of the Quadrotor -p : Parameters of the Quadrotor -t : Current time scalar -func_sys : JuliaSimControl FunctionSystem of the quadrotor dynamics

state_arr = run_quadrotor_sim(
    tn,
    n,
    x0_vec,
    quad_sim::Function,
    func_sys::FunctionSystem,
    QuadModel,
    GeometricControllers,
    ControlGains,
    generate_trajectory::Function,
)

Runs the simulation of the Quadrotor with trajectory optimizer and gives the values of the state vector at discrete time instants

Output:

-state_arr : State vector at specified (tn) instances of time Input: -tn : Discrete sample time -n : Number of discrete time samples the Quadrotor is simulated -x0_vec : Vector of initial conditions for the built model of the Quadrotor -quad_sim: Function to compute derivative of the state vector of the Quadrotor