Quanser QBall 2, Настройка и конфигурация

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Figure 6.11: Model target IP settings
5. Select
External
for simulation mode, instead of
Normal
, which indicates that the model is to be run on the target
machine (Gumstix) rather than simulating the model on the host machine.
6. The model is now ready to be compiled and downloaded to the target. If the wireless connection to the vehicle
has been established, a QUARC
r
console can be opened to show additional messages and progress during
model compilation by going to the menu item QUARC |
Console
for all. Building the model ( QUARC |
Build
)
will begin the code generation and compiling steps. Output from the compilation is shown in the QUARC
r
console. This step may take a few minutes to complete.
6.5 Joystick
The joystick is an integral part of the QBall 2 and must be used in every test flight. Even in closed-loop control
modes, the joystick is still used as an enable/stop switch for safety reasons. The joystick has one control stick that
operates the pitch, roll, and yaw commands as well as an analog slider to enable takeoff and landing. The mapping
of the control stick is shown below in Figure 6.12. The stick controls the pitch and roll (down->up is pitch backwards
-> forwards, left-> right is roll left->right) and yaw rate by rotating the stick about the vertical axis. The joystick
commands are always given in the reference frame of the QBall 2, therefore it is recommended to control the QBall
2 with the QBall 2 facing away from the operator, so he/she is viewing the QBall 2 tail.
Before running any QBall 2 controllers, calibrate your joystick using the Windows game controller calibration. Build
and run the
host_joystick_logitech_extreme3d_pro.mdl
model for your configuration. Verify using the host
joystick model that the joystick is responding and covering the correct range for each control stick.
6.6 Simulink Files
To operate the QBall 2 there are several files needed. Table 6.7 lists the various files and their purpose.
The QBall 2 operates using a host-target structure. The host machine (ground station PC) runs one host model to
stream joystick (and possibly localization) data to the target QBall 2. The target computer is the QBall 2 Gumstix
DuoVero, which executes the QBall 2's controller (
qball_2_control_v1.mdl
). Various scripts are run upon opening
the QBall 2 controller model to initialize the controller parameters. If the Matlab
r
workspace is cleared and these
parameters are no longer stored, simply run the
setup_qball_2.m
script to reinstate the configuration parameters.
QBALL 2 - User Manual 26