How do I change the position reference values in the asbQuadcopter project for Parrot Rolling Spider Minidrones?

The asbQuadcopter example model set the reference value for z position in -1.1m. In the simulation mode, the references can be changed in various ways (signal builder, input mat file, input xls file,...).

But when the control model is deployed the reference position is always the same and the flight runs for a fixed time (as stated here ). It seems that in the build process, somewhere I can't see, the references values are set.

I would like to change this value in order to test new control algorithms deployed in the drone.

[Mahmoud Elbeltagy]

I am facing the same problem here, I have no clue where the signal is coming from. I changed the signal in the CMD subsystem and nothing happened, I chnaged it in the Flight controller and nothing happened. I just want to know how where the signal is coming from.

Answer 1

[Maitreyee Mordekar]

Hi,

To deploy reference position changes on to the drone you will have to make the reference value changes inside the flightControlSystem(FCS) block.

To do the same, you can navigate to the following subsystem in the asbQuadcopter model:

flightControlSystem/Flight Control System/flightController/Flight Controller

The reference values are held in ReferenceValueServerBus.

If you overwrite the existing values of X, Y, Z (maybe using a constant block), the reference value will accordingly be adjusted when you deploy on to the drone.

I hope that helps!

[B.ray]

From the webinar Here, He put the reference in the FCS model not in the flight Controller Model, I tried the same thing (shown in the picture below)

I have asked the question Here. PLZ help

[B.ray]

Even when I put the reference inside the flight controller (like shown here), it didn't work!