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37 lines
1.0 KiB
Markdown
37 lines
1.0 KiB
Markdown
# 모듈 참조: 시뮬레이션
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## simulator_sih
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Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
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### 설명
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This module provides a simulator for quadrotors and fixed-wings running fully
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inside the hardware autopilot.
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This simulator subscribes to "actuator_outputs" which are the actuator pwm
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signals given by the control allocation module.
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이 시뮬레이터는 루프에 상태 추정기를 통합하기 위하여 실제 노이즈로 손상된 센서 신호를 게시합니다.
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### 구현
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시뮬레이터는 선형대수를 사용하여 운동 방정식을 구현합니다.
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쿼터니언 표현은 태도에 사용됩니다.
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적분에는 순방향 오일러가 사용됩니다.
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대부분의 변수는 스택 오버플로를 피하기 위하여 .hpp 파일에서 전역으로 선언됩니다.
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<a id="simulator_sih_usage"></a>
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### 사용법
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```
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simulator_sih <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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