1 00:00:00,610 --> 00:00:01,420 ‫Welcome back. 2 00:00:02,050 --> 00:00:07,770 ‫Now I'm going to give you a general explanation of the code, so let's get started. 3 00:00:08,760 --> 00:00:15,300 ‫The code has the same structure, like in the case of the autonomous vehicle, it's just slightly larger. 4 00:00:16,270 --> 00:00:22,450 ‫You still have to files, you have the main file and then you have the support file, the main file 5 00:00:22,450 --> 00:00:29,740 ‫is called like this main underscore, LPT, underscore, MPAC, underscore that pie and then the support 6 00:00:29,740 --> 00:00:35,470 ‫file is this one support on the score files underscore drone that pie. 7 00:00:35,830 --> 00:00:43,330 ‫And remember, these two files need to be in the same folder and then remember that you have to run 8 00:00:43,480 --> 00:00:44,750 ‫the main file. 9 00:00:45,730 --> 00:00:52,240 ‫So even though both of them need to be in the same folder, you have to run the main file, not the 10 00:00:52,240 --> 00:00:53,160 ‫support file. 11 00:00:53,950 --> 00:00:56,140 ‫You have to run this file here. 12 00:00:56,560 --> 00:01:02,800 ‫And then this file will communicate with the support file on its own and again, make sure that they're 13 00:01:02,830 --> 00:01:04,070 ‫in the same folder. 14 00:01:04,090 --> 00:01:05,330 ‫That's very important. 15 00:01:06,160 --> 00:01:08,270 ‫So what's new in the structure? 16 00:01:09,160 --> 00:01:16,000 ‫Well, in the support file, you have one more function called porc on this controller. 17 00:01:16,720 --> 00:01:18,250 ‫That's for position control. 18 00:01:19,060 --> 00:01:22,860 ‫And in the main file, you have one more loop. 19 00:01:23,770 --> 00:01:28,270 ‫Remember that we have the outer loop and the inner loop. 20 00:01:29,360 --> 00:01:36,860 ‫So the outer loop would be for this for loop here, that happens every zero point four seconds and then 21 00:01:36,860 --> 00:01:43,490 ‫the inner loop, which is this one which runs everything open one second, it runs four times per one 22 00:01:43,490 --> 00:01:44,270 ‫outer loop. 23 00:01:45,110 --> 00:01:49,840 ‫Everything else, even though adapted to a drone, has the same structure. 24 00:01:51,230 --> 00:01:59,570 ‫And so let's get started in the meanwhile, we start by importing all the necessary laborers that are 25 00:01:59,570 --> 00:02:00,140 ‫here. 26 00:02:01,100 --> 00:02:09,230 ‫This one here that's actually part of matplotlib and it comes together with matplotlib and it enables 27 00:02:09,230 --> 00:02:13,040 ‫me to animate that drone in 3D. 28 00:02:13,640 --> 00:02:18,220 ‫But it did not fully work in matplotlib three point thirty point three. 29 00:02:18,620 --> 00:02:27,860 ‫So because of this one here, I had to get my three point two point two, then I have to create an object. 30 00:02:28,250 --> 00:02:29,510 ‫That's this one here. 31 00:02:29,510 --> 00:02:39,170 ‫I'm creating an object here and then I'm going to load all the initial constants from this init function 32 00:02:39,170 --> 00:02:42,440 ‫in the support file, this support file. 33 00:02:42,920 --> 00:02:44,630 ‫It's like one big class. 34 00:02:45,560 --> 00:02:52,610 ‫So if you look at this here, you have the support file and you see this super file. 35 00:02:52,610 --> 00:02:54,200 ‫It's one big class. 36 00:02:54,620 --> 00:02:58,040 ‫And in this class you have several functions. 37 00:02:58,990 --> 00:03:06,730 ‫You have this innate function, then you have this trajectory generator function, then you have the 38 00:03:06,730 --> 00:03:10,050 ‫position controller function and cetera. 39 00:03:10,870 --> 00:03:17,860 ‫And so these are all your functions in this class that you have in the support file. 40 00:03:18,670 --> 00:03:27,640 ‫And so once the main file creates an object based on this class here, that's when the main file can 41 00:03:27,640 --> 00:03:32,050 ‫start using the functions inside this class. 42 00:03:33,000 --> 00:03:39,570 ‫And so the first thing that this, meanwhile, is going to do, it's going to take all the initial constants 43 00:03:39,900 --> 00:03:44,130 ‫from this init function, it happens here. 44 00:03:44,250 --> 00:03:47,850 ‫Konstanz equals support that Constance. 45 00:03:48,780 --> 00:03:55,260 ‫And if you look at this in its function here, then these are all your initial constants and they are 46 00:03:55,260 --> 00:03:58,590 ‫all stored here in this vector. 47 00:03:58,800 --> 00:04:02,660 ‫In this list, you see it's a pretty long list. 48 00:04:02,880 --> 00:04:06,330 ‫I think you have either thirty four, thirty five elements here. 49 00:04:07,110 --> 00:04:12,510 ‫And in this main file, they will be stored in this variable here constants. 50 00:04:13,590 --> 00:04:20,520 ‫It will be a vector from which I can take my initial concerns, for example, if I want the sample time 51 00:04:20,520 --> 00:04:27,830 ‫interval interrelates, then it's going to be the seventh element in this constant vector. 52 00:04:28,080 --> 00:04:30,540 ‫Why do I say the seventh element? 53 00:04:31,440 --> 00:04:34,260 ‫Because in Python you start counting from zero. 54 00:04:34,260 --> 00:04:40,760 ‫So zero one, two, three, four, five and six. 55 00:04:41,220 --> 00:04:46,090 ‫So it's it's the seventh element because you start counting from zero. 56 00:04:46,800 --> 00:04:54,240 ‫So if you go from zero to six, actually you have seven elements here and they define the sample time 57 00:04:54,390 --> 00:04:57,180 ‫interval value right here. 58 00:04:57,180 --> 00:04:59,880 ‫T equals zero point one seconds. 59 00:05:00,720 --> 00:05:08,430 ‫And now let's look at the initial constants more closely just for you to know all these parameters. 60 00:05:08,760 --> 00:05:13,230 ‫They belong to a movie called Aztec Hummingbird. 61 00:05:14,070 --> 00:05:16,710 ‫You have the mass moments of inertia here. 62 00:05:17,340 --> 00:05:18,630 ‫You have the mass. 63 00:05:19,740 --> 00:05:21,660 ‫You have the gravity acceleration. 64 00:05:22,740 --> 00:05:26,580 ‫You also have the Mars moment of inertia of the propeller. 65 00:05:27,630 --> 00:05:29,400 ‫You have the sample time interval. 66 00:05:30,430 --> 00:05:38,650 ‫You have the NPC wait Matrixes, Q, s and R, as you can see, they are now three by three diagonal 67 00:05:38,650 --> 00:05:39,670 ‫weight matrixes. 68 00:05:40,660 --> 00:05:48,550 ‫You have the trust factor here, you have the drag factor here, and then you have the length and that's 69 00:05:48,550 --> 00:05:54,730 ‫the length from the center of the drone to the center of any of the propeller's. 70 00:05:55,760 --> 00:06:03,740 ‫So if you remember then, the trust factor was this one here, you used it in you one, you two and 71 00:06:03,740 --> 00:06:12,050 ‫you three in those equations, were you related the control inputs with the angular velocity of the 72 00:06:12,050 --> 00:06:19,430 ‫drone and then your drag factor is here where you related your EUFOR with your Omega's. 73 00:06:20,530 --> 00:06:28,570 ‫So see, Sabeti, that was your trust factor and then see subcu, that was your drag factor and then 74 00:06:28,570 --> 00:06:38,110 ‫your length was from the center of the drone right here where my mouth is up until the center of any 75 00:06:38,110 --> 00:06:39,280 ‫of the propellers. 76 00:06:39,830 --> 00:06:42,700 ‫That was your length then? 77 00:06:42,700 --> 00:06:45,600 ‫I have this variable here, controlled states. 78 00:06:46,030 --> 00:06:55,120 ‫So basically here for the NPC purposes, I'm saying that the number of my added to the outputs Phi Theta 79 00:06:55,120 --> 00:07:02,770 ‫and BPCI, their amount is three because you have five Seeta and three edited outputs. 80 00:07:03,860 --> 00:07:12,200 ‫I will use that later to formulate a reference value vector, then this is my horizon period, which 81 00:07:12,200 --> 00:07:20,390 ‫is for then I also have this viable inner dynamics length inner DAINE and then on the skirt length, 82 00:07:20,390 --> 00:07:21,850 ‫which also equals four. 83 00:07:22,310 --> 00:07:33,920 ‫So that essentially tells me how many inner control loop interactions I have per one outer loop iteration. 84 00:07:35,210 --> 00:07:43,970 ‫Then I define my polls here, so polls for the X, Y and Z dimensions, respectively, and these are 85 00:07:43,970 --> 00:07:45,070 ‫the real polls. 86 00:07:45,620 --> 00:07:54,380 ‫And then here I can also uncommented the complex polls that contain the imaginary part as well. 87 00:07:55,160 --> 00:08:00,710 ‫And then these variables here, therefore, the trajectories, for example. 88 00:08:01,220 --> 00:08:09,470 ‫This is the radius of the spiral that you have seen before then the frequency which pretty much determines 89 00:08:09,710 --> 00:08:18,860 ‫how many rotations in the spiral on the X Y plane you're going to have in one hundred seconds because 90 00:08:18,860 --> 00:08:22,210 ‫our simulation length will be one hundred seconds. 91 00:08:23,180 --> 00:08:26,600 ‫So right now my spiral looks like this. 92 00:08:27,650 --> 00:08:36,350 ‫But if I increase my frequency and I multiply it, for example, by one point five, then I will have 93 00:08:36,350 --> 00:08:38,840 ‫more rotations in that spiral. 94 00:08:38,930 --> 00:08:46,550 ‫You see, in total, the simulation length is one hundred seconds, so you go from zero to one hundred 95 00:08:46,550 --> 00:08:47,210 ‫seconds. 96 00:08:48,020 --> 00:08:55,850 ‫But during those one hundred seconds, you will have more circles made on the X Y plane. 97 00:08:56,750 --> 00:09:03,770 ‫And then this is the initial height of your spiral and then this is the final height of your spiral. 98 00:09:04,640 --> 00:09:13,430 ‫So even though my drone starts from the zero meter altitude, then my spiral starts from the five meter 99 00:09:13,430 --> 00:09:18,110 ‫altitude and it finishes at the twenty five meter altitude. 100 00:09:18,890 --> 00:09:22,820 ‫You see, this is my Z dimension and I start from here. 101 00:09:23,030 --> 00:09:29,900 ‫The Z equals zero meters, but then the reference value for the Z dimension starts from five meters 102 00:09:29,900 --> 00:09:32,090 ‫and it ends at twenty five meters.