FixedWing
Images
Description
Our custom in-house hovering AUV.
See the FixedWing.
Control Schemes
- AUV Thrusters (``0``)
An 8-length floating point vector used to specify the control on each thruster. They begin with the front right vertical thrusters, then goes around counter-clockwise, then repeat the last four with the sideways thrusters.
- PD Controller (``1``)
A 6-length floating point vector of desired position in the global frame and roll, pitch, and yaw. A basic PD controller has been implementing to move the vehicle to that position and orientation using the needed forces and torques.
- Custom Dynamics (``2``)
A 6-length floating point vector of linear and angular accelerations in the global frame. This is to be used for implementing custom dynamics. Besides collisions, all other forces and torques - including gravity, buoyancy, and damping - have been disabled in the simulator to allow for a clean slate for custom dynamics.