7.3、Frequently ISSUE
7.3.1、When trying to understand motor or propeller fault injection, a problem is encountered. python files to run under the folder always need additional packages, this is normal? Do I need to find my own or install another package? With similink, efficiency failure codes seem to be multiplied directly by arguments in IntFloat. How does this represent an efficiency failure? How does the code that appears to represent the fault as an integer multiply directly with the injected fault signal turn into an efficiency fault?
Answer to questions:
It's not unusual to need extra packages when running Python files, especially if you're using some third-party libraries or modules. You can get around this by installing the required packages. Typically, you can use Python's package management tools, such as pip, to install the missing packages.
With regard to the problem you mentioned with efficiency fault injection, the problem relates to the specific way emulators or simulation software are implemented. Typically, efficiency fault injection can be simulated by changing the performance parameters of the motor or propeller, such as reducing the power output of the motor or increasing the drag of the propeller.
In Simulink, the way you mention that the efficiency fault code is directly multiplied by the parameters in IntFloat, may be a way that the simulator or simulation software implements it internally. This means that the simulator modifies the performance of the motor or propeller based on the parameters of the efficiency fault, which affects the behavior of the vehicle.
Specifically, if the fault parameter in the code is represented as an integer and is directly multiplied by the signal being injected into the fault, this may mean that the fault parameter represents a multiplication factor that is used to adjust the motor or propeller performance. For example, if the efficiency fault parameter is 0.9, multiplying it with the output of the motor can reduce the output of the motor to 90% of its original value, thus simulating a decrease in the efficiency of the motor.
In general, how the efficiency failure is realized depends on how the specific simulation software or simulator is designed and implemented. You will need to consult the relevant documentation or materials to understand how the simulator translates the fault parameters into actual effects.
In summary: the routines included in the platform involve the package, basically do not need to install, if there is a need for additional installation, directly install on the line. At present, this is the realization of the platform, of course, if you have a more novel way, welcome to exchange.
7.3.2、Can you add adjustable wind speed interference to RflySim?
Answer to questions:
Can be tuned, the corresponding program in MTALAB can be operated, is the environment model in uav model
7.3.3、RflysimPHM / 1. BasicExps/e2_GPSFault/Init. M, modify ModelParam_GPSSatsVisible = 15, ModelParam_noiseUpperGPS = 0, and then run Init. J m, then compile, Generate a dll. Why did it not work in QGC?
Answer to questions:
Now this version of the platform can only change the overall noise level, and the parameters are encapsulated in the mask of each module.
7.3.4、Does the RflySim simulation tool have an interface to set the wind speed? The acceleration control of the interface can only be added to the maximum 5m/s speed control can be added to the upper limit set by px4, how to adjust?
Answer to questions:
You can find the parameters here. It should be in the parameters of the multi-rotor angular velocity ring
7.3.5、Does RflySim support positioning noise? Is to make the plane less stable?
Answer to questions:
You can use Simulink to generate a multi-rotor DLL model, and the positioning noise is whatever you want to add.
Or modify the global noise level here, in addition, there is a NoGPS mode, directly does not send positioning information, need to use SLAM positioning, through mavlink to send visual positioning of the aircraft.
For more questions, please visit：https://github.com/RflySim/Docs/issues