tinysim

A tiny simulator for aerial robots. It is written in c++.

Function Declerations

Function declerations are done in respective header files, and all are collected under include/.

Functions

Controls

Here I collect different control algorithms used in aerial robotics. See src/controls for the implementation.

• A PID controller for altitude control with its reference dynamics.
• An INDI controller for attitude rate control.
• A quaternion based tilt prioritizing attitude control.
• A PID conroller for horizontal position control with its reference dynamics.
• A full geometric control in SE3.

Flatness

• Differential flatness functions for 1-1 mapping between states, trajectories and the inputs.

Fusion

Here I collect sensor fusion algorithms. See src/fusion for the implementation.

Geometry

Especially the SO3 definitions. See src/geometry for the implementation.

Parameters

All parameters are defined here. See src/parameters for the implementation.

Physics

The rules of the physics that governs the motion of the robot are implemented here. See src/physics for the implementation.

Sensors

Motion is sensed through sensors before used in control. Sensor models are defined here. See src/sensors for the immplementation.

• IMU
• Barometer
• GNSS receiver
• Onboard camera
• Radar
• Lidar

Filters

Various filtering methods are needed and hence implemented. See src/filters for the implementation.

Building

Run everything in one go

./tinysim.sh

Compile

To run the code:

cmake .
make
./build/tinysim

Clean Binaries

make clean_files

Plotting

This simulator generates a log.txt file. Under /analyze you will find a python script for reading and plotting the data in it. For example: