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Guide 2023 05 31T024257 441

ARDrone Simulink Development Kit Version September David Escobar Sanabria University of Minnesota Minneapolis MN Pieter J Mosterman MathWorks Natick MA This guide provides a brief description of baseline Simulink blocks and examples that enable the design and experimental validation of navigation control and guidance algorithms for the Parrot AR Drone rotorcraft The Simulink examples illustrate how to simulate and control the drone via Wi-Fi Mathematical models and simulation Simulink blocks were constructed for the AR Drone with the protective indoor hull The simulation Simulink models are used to design and validate algorithms before ying the AR Drone in real time Requirements ? MATLAB and Simulink release R b or bit ? Real- Time Windows Target release R b Setup using 'rtwintgt -setup' ? Parrot AR Drone Library Block Description Library blocks are located in the Simulink library ?le lib ARBlocks slx The ? ARDrone Simulation Block ? and ? ARDrone Wi-Fi Block ? are the main components of the development kit These blocks have the same input and output to enable quick and easy transition from design and simulation to implementation ARDrone Simulation Block This block contains a model of the vehicle dynamics obtained via system identi ?cation Navigation control and guidance algorithms should be initially validated using the simulation block ARDrone Wi-Fi Block This block is an interface with the Parrot AR Drone that allows users to simultaneously send commands to the vehicle and read the states from the vehicle This block was constructed using Real-Time Windows Target blocks The AR Drone block runs in external mode via Real-Time Windows Target to provide periodicity of navigation control and guidance tasks Example Waypoint Tracking Simulink models for both simulation and Wi-Fi control of the AR Drone are provided to illustrate the capabilities of the blockset The simulation and Wi-Fi control models implement a control and guidance algorithm that tracks a list of waypoints in space The waypoints consist of the vehicle position Xe Ye in the inertial frame height desired heading angle and waiting time A diagram of the vehicle inertial frame and heading angle is presented in Figure The simulation model is used to validate proper operation of algorithms before executing the algorithms on the ARDrone via the Wi-Fi control Simulink model CFigure Vehicle diagram and frames Instructions for simulation Edit the list of waypoints located at lib getWaypoints Run the simulation setup ?le simulation setupWPTrackingSim m Run the Simulink model simulation ARDroneWPTracking slx Instructions for Wi- Fi control Connect to the ARDrone Wi-Fi network Edit the list of waypoints located at lib getWaypoints Run the setup script wi ?Control setupWPTracking m Build ctrl b the Simulink model wi ?Control ARDroneWPTracking slx Make sure inputs y enable reference commands and emergency stop are set to zero Connect to the target and run wi ?Control ARDroneWPTracking slx Switch input y to to take o ? Switch input enable reference commands to to start sending commands from the Simulink controller The heading angle is set to zero when input input enable