Guidance, Navigation and Control · Modelling a Vehicle for GNC · M2-L1 · Intermediate
Trim and Linearize Hopper
Bench log · Hopper on the test range
08:50. Hopper has been refitted with a heavier battery on one side, and the thrust line now passes 4 cm to one side of the centre of mass. The old trim, a vertical body and a centred gimbal, makes the vehicle drift sideways and tilt away.
You will find the new hover by hand, make the computer find it for any mass and offset, build the linear model that the control design of module 4 will use, and measure how far from the trim that model can be trusted.
Your task
Lab complete: post-mortem
You have passed every stage. Now connect it back to the theory and move on:
Output
What Python can I use?
Plain Python 3 with the standard library and the course library gnckit (import gnckit as g: transfer functions and margins, state space and LQR, the Hopper model, quaternions, a convex solver). NumPy is not available in the browser. Your code runs in a background worker: an endless loop is stopped after a few seconds and the page stays usable. It runs in your browser and is never sent anywhere.