diff --git a/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.bib b/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.bib
index ce74a23e8a04b47ce679015154ee547102a5dd60..2451a934d2f7888c0d855211492b042e328b2697 100644
--- a/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.bib
+++ b/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.bib
@@ -119,3 +119,10 @@
Url = { https://en.wikipedia.org/wiki/Quadcopter#Flight_dynamics},
Urldate = {2017-03-07}
}
+
+@Article{quadrocopterWeber2013,
+ Author = {Jan Weber},
+ Title = {},
+ Year = {},
+ Month = {}
+}
diff --git a/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.fdb_latexmk b/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.fdb_latexmk
new file mode 100644
index 0000000000000000000000000000000000000000..de529878199704f9866a1c04ad7fe122dd623404
--- /dev/null
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@@ -0,0 +1,261 @@
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+\contentsline {lstlisting}{\numberline {4.1}platformio.ini - Konfigurationsbeispiel}{9}{lstlisting.4.1}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {4.2}Deklaration der verwendeten Datenstrukturen}{10}{lstlisting.4.2}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {4.3}Festlegen der Threshold-Werte}{11}{lstlisting.4.3}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {4.4}Konstruktor}{11}{lstlisting.4.4}
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+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {4.11}schedule}{16}{lstlisting.4.11}
+\defcounter {refsection}{0}\relax
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+\contentsline {lstlisting}{\numberline {4.13}setPriorities}{18}{lstlisting.4.13}
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+\contentsline {lstlisting}{\numberline {4.14}exterminate}{18}{lstlisting.4.14}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {5.1}RC.h}{19}{lstlisting.5.1}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {5.2}Mixer.h}{19}{lstlisting.5.2}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {5.3}Mixer::mix()}{20}{lstlisting.5.3}
+\defcounter {refsection}{0}\relax
+\contentsline {lstlisting}{\numberline {5.4}RawSerial.h - Auszug}{21}{lstlisting.5.4}
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diff --git a/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.pdf b/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.pdf
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diff --git a/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.tex b/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.tex
index c2b6957cb70c71cc508cabcce212494722084293..66602e8a22870a6f3b6905242c34fa6765d4b02d 100644
--- a/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.tex
+++ b/LeonardoMixerIO/doc/Dokumentation_Systemtechnik.tex
@@ -165,7 +165,7 @@ gegebenen Frequenz Pulse variabler Länge generiert werden. Die Länge des Pulse
ist proportional zu übertragenden Wert.
Im Modellbau findet dieses Verfahren zum einen zur Leistungsregelung von Gleichstrom-Motoren
Verwendung, zum anderen stellt es den etablierten Standard der Ansteuerung von Servo-Motoren (siehe Abb.\ \ref{fig:waveform-pwm})
-und Drehzahlstellern, wie etwa bei einem Quadrocopter, von Seiten eines RC-Empfängers
+und Drehzahlstellern, wie etwa bei einem Quadrokopter, von Seiten eines RC-Empfängers
oder einer Flugsteuerung dar.
\begin{figure}[hb]
\centering
@@ -258,8 +258,8 @@ Herstellers Olimex\footnote{\url{https://www.olimex.com/Products/Duino/AVR/OLIME
welche gegenüber dem offiziellen Arduino Leonardo einige Vorteile sowie ein
besseres Preis-Leistungs-Verhältnis bietet.
-\section{Quadrocopter}
-Als Quadrocopter wird im Allgemeinen ein Fluggerät bezeichnet, welches über vier
+\section{Quadrokopter}
+Als Quadrokopter wird im Allgemeinen ein Fluggerät bezeichnet, welches über vier
starr am Rahmen befestigte, drehbar gelagerte Rotoren verfügt.
Angetrieben werden diese Rotoren jeweils durch einen Elektromotor. Die Drehzahl dieser
Motoren und der meist direkt mit diesen gekoppelten Rotoren kann mittels sog.\ Fahrtregler
@@ -267,22 +267,22 @@ gestellt werden. Hierdurch ist eine Steuerung des durch die einzelnen Rotoren ge
Auftriebs möglich.
Eine individuelle Steuerung der Rotorgeschwindigkeiten ermöglicht ein Neigen des
-Quadrocopters um seine Roll- und Nick-Achse und somit eine Fortbewegung in der Horizontalebene.
+Quadrokopters um seine Roll- und Nick-Achse und somit eine Fortbewegung in der Horizontalebene.
Durch kollektive Drehzahländerungen aller Rotoren kann die Vertikalgeschwindigkeit
des Quadrokopters beeinflusst werden. Für weitergehende Informationen bzgl.\ der
Funktionsweise eines Quadrokopters kann der entsprechende Eintrag in der Wikipedia
herangezogen werden \cite{wikipedia1}.
-Die Regelung der Lage und Geschwindigkeit eines Quadrocopters erfolgt mittels einer
+Die Regelung der Lage und Geschwindigkeit eines Quadrokopters erfolgt mittels einer
Flugsteuerung an Bord. Diese stellt ein für sich eigenständiges eingebettetes System
dar, welches über entsprechende Sensorik zur Lage- und ggf.\ Positionserkennung verfügt.
-Die Steuerung eines Quadrocopters durch den Piloten erfolgt bspw.\ konventionell
+Die Steuerung eines Quadrokopters durch den Piloten erfolgt bspw.\ konventionell
mittels einer Funkfernsteuerung oder auch per App über ein Mobiltelefon.
\begin{figure}[ht]
\centering
\includegraphics[width=\textwidth]{../../common/header.jpg}
- \caption{Der in diesem Projekt verwendete Quadrocopter}
+ \caption{Der in diesem Projekt verwendete Quadrokopter}
\label{fig:quad-sexy}
\end{figure}
@@ -785,8 +785,8 @@ solange durchlaufen, wie die Ausführungszeit des betrachteten Tasks vor derjeni
des übergebenen Tasks liegt oder bis die Liste zu Ende ist. Anschließend wird das
übergebene Element an der entsprechenden Stelle einsortiert und der Zeiger auf den
ehemals zweiten Task (der jetzt der als Nächstes auszuführende ist) zurückgegeben.
-Somit wird im schlechtesten Fall eine Ordnung von $O(n)$ erreicht, während der
-äquivalente Vorgang in einem herkömmlichen Array eine Ordnung von $O(n^2)$ hätte.
+Somit wird im schlechtesten Fall eine Ordnung von $\mathcal{O}(n)$ erreicht, während der
+äquivalente Vorgang in einem herkömmlichen Array eine Ordnung von $\mathcal{O}(n^2)$ hätte.
\begin{lstlisting}[caption=schedule]
// Scheduler, called cyclical in the loop-function
@@ -1042,7 +1042,7 @@ Anwendung erfordern.
Wie in Abbildung \ref{fig:diag-LeonardoMixerIO} zu erkennen, ist im Rahmen dieses Projektes die Kommunikation
zwischen drei wesentlichen Komponenten herzustellen und aufrecht zu erhalten.
-Im konventionellen Betrieb eines Flugmodells oder Quadrocopters besteht zwischen
+Im konventionellen Betrieb eines Flugmodells oder Quadrokopters besteht zwischen
Flugsteuerung und Fernsteuerungs-Empfänger eine direkte Verbindung.
Durch Einbringung des Mobiltelefons und den von diesem im Rahmen des VBLS-Projektes
generierten Daten ist nun eine weitere Komponenten einzubinden.
@@ -1407,8 +1407,34 @@ Das Senden der Daten an die Flugsteuerung ist echtzeit-kritisch und erfolgt mit
einer vorgegebenen Zykluszeit von 20ms.
\section{Testbedingungen}
-Getestet wurde der Mischer auf der im Rahmen des Parallelprojekts \glqq{}VBLS\grqq{} \footnote{VBLS - \url{https://gitlab.cvh-server.de/lf.ps/vbls/tree/master/Visual-Based-Landing-System}} genutzten
-Flugplattform, einem Quadrocopter in X-Anordung.
+Getestet wurde der Mischer zum einen auf seine Ausführungszeit (den sog.\ \glqq{}Runtime-Over"=head\grqq{}) und zum anderen auf seine Stabilität. Bzgl.\ der Ausführungszeit wurde wiederum zwischen Echtzeit- und Nicht-Echtzeit-Taskverwaltung unterschieden.
+
+Im ersten Fall wurde dazu die Funktion \lstinline{schedule()} derart modifiziert, dass am Ende der Ausführung die Differenz zwischen der aktuellen Laufzeit und der Laufzeit zu Beginn der Funktion ausgegeben wird. Als Test-Tasks wurden lediglich zwei leere Echtzeit-Tasks mit unterschiedlichen Zykluszeiten angelegt. So wird zum einen gewährleistet, dass die Funktion \lstinline{sortRtTasks(...)} zum Tragen kommt. Zum anderen wird \lstinline{perform()} nicht aufgerufen, da die Betrachtung der Nicht-Echtzeit-Tasks einzeln erfolgen soll.
+
+Die Messung des \glqq{}Runtime-Overheads\grqq{} der Nicht-Echtzeit-Taskverwaltung gestaltete sich insofern einfacher, dass \lstinline{perform()} nicht extra modifiziert werden musste. Es war ausreichend, lediglich einen Nicht-Echtzeit-Task anzulegen, der bei jeder Ausführung die Differenz zwischen dem Zeitpunkt seiner letzten Ausführung (d.\,h.\ \lstinline{timestamp}) und
+der aktuellen Laufzeit ausgibt.
+\\
+\\
+Die Stabilität des Mischers wurde in Form eines Dauertest auf der im Rahmen des Parallelprojekts \glqq{}VBLS\grqq{} \footnote{VBLS - \url{https://gitlab.cvh-server.de/lf.ps/vbls/tree/master/Visual-Based-Landing-System}} genutzten
+Flugplattform, einem Quadrokopter in X-Anordung, getestet.
+
+\begin{figure}[hb]
+ \centering
+ \includegraphics[width=0.8\textwidth]{../../common/photos/Quad-web-6.jpg}
+ \caption{Nahansicht des Versuchsaufbaus im Profil}
+ \label{fig:pic-quad-detail-sexy}
+\end{figure}
+
+\begin{figure}[hbt]
+ \centering
+ \includegraphics[width=0.75\textwidth, trim= 0cm 2cm 0cm 1cm, clip]{../../common/photos/Quad-web-4.jpg}
+ \caption{Draufsicht auf die Oberseite des Versuchsaufbaus. Die Hauptdiagonale zwischen zwei Rotoren beträgt 415mm.}
+ \label{fig:pic-quad-top}
+ \vspace{\baselineskip}
+ \includegraphics[width=0.75\textwidth, trim= 0cm 1.5cm 0cm 0cm, clip]{../../common/photos/Quad-web-5.jpg}
+ \caption{Draufsicht auf die Unterseite des Versuchsaufbaus}
+ \label{fig:pic-quad-bot}
+\end{figure}
In Abbildung \ref{fig:pic-quad-detail-sexy} gut zu erkennen ist der schichtweise Aufbau des
Testaufbaus:
@@ -1417,53 +1443,46 @@ Testaufbaus:
\item{Arduino-Leonardo-kompatibler Olimexino 32u4 mit eigens angefertigter Adapterplatine,
um die Verdrahtung der Komponenten entsprechend den Anforderungen des vibrationsträchtigen Aufbaus
sicher zu gestalten.}
- \item{Der ursprünglich von Herrn Weber gebaute Quadrocopter, mit neu ausgeführter Verdrahtung und Ergänzungen.}
+ \item{Der ursprünglich von Weber gebaute Quadrokopter, mit neu ausgeführter Verdrahtung und Ergänzungen \cite[vgl.\ ][]{quadrocopterWeber2013}.}
\item{Akku}
\item{Mobiltelefon mit VBLS-Applikation}
\end{itemize}
+\newpage
\section{Ergebnisse}
-Die den Flugversuchen zeitlich vorrangestellten Tests im Laborumfeld bescheinigten
-dem Mischer und insbesondere dem Scheduler das gewünschte Verhalten.
-Nach einem Dauertest über den Zeitraum von 45 Minuten konnte kein Verklemmen oder
+Nach mehreren Messungen des \glqq{}Runtime-Overheads\grqq{} auf Basis des im Rahmen des Projekts verwendeten Olimexino 32u4 konnten folgende Ausführungszeiten ermittelt werden:
+\\
+\\
+\begin{tabular}{ l l }
+ Echtzeit-Taskverwaltung: & 85µs \\
+ Nicht-Echtzeit-Taskverwaltung: & 20µs \\
+\end{tabular}
+\\
+\\
+Das heißt, dass von Seiten des Schedulers (bei entsprechender Programmierung der Tasks) eine Echtzeitfähigkeit von bis zu ca.\ 0.1ms erreicht werden kann. Für die gegebene Anwendung mit einer Anforderung von 50Hz, d.\,h.\ 20ms, ist dies mehr als ausreichend.
+\\
+\\
+Anmerkung: Es ist zu beachten, dass lediglich der statische Anteil des \glqq{}Runtime-Overheads\grqq{} gemessen wurde. Der dynamische Anteil, d.\,h.\ die für die Sortierung benötigte Zeit, steigt mit zunehmender Anzahl der jeweiligen Tasks um den Faktor $n$ (für Echtzeit-Tasks) bzw.\ $n\cdot\log n$ (für Nicht-Echtzeit-Tasks). Weiterhin verlängert sich die Ausführungszeit im Fall von Starvation durch das Ausführen von \lstinline{setPriorities()} ebenfalls.
+\\
+\\
+Bzgl.\ der Stabilität des Systems konnte nach einem Dauertest über den Zeitraum von 45 Minuten kein Verklemmen oder
unerwünschtes Verhalten festgestellt werden.
-\todo{Harte Fakten! Zykluszeiten ermitteln und dokumentieren.}
-
Im Verlaufe der abschließenden Flugversuche ist kein einziger Ausfall zu vermerken,
welcher auf das in diesem Projekt geschaffene System zurückzuführen wäre.
Dies bedeutet, dass der Mischer die gesetzten Anforderungen bezüglich der Echtzeitfähigkeit
und bezüglich der Stabilität der Anwendung gänzlich erfüllt.
Dieser Erfolg ist insbesondere dem Scheduler sowie der konsequenten Auslegung der
einzelnen Methoden auf kooperatives Multitasking zuzuschreiben.
-\begin{figure}[hb]
- \centering
- \includegraphics[width=0.8\textwidth]{../../common/photos/Quad-web-6.jpg}
- \caption{Nahansicht des Versuchsaufbaus im Profil}
- \label{fig:pic-quad-detail-sexy}
-\end{figure}
-
-\begin{figure}[hbt]
- \centering
- \includegraphics[width=0.75\textwidth, trim= 0cm 2cm 0cm 1cm, clip]{../../common/photos/Quad-web-4.jpg}
- \caption{Draufsicht auf die Oberseite des Versuchsaufbaus.
- Die Hauptdiagonale zwischen zwei Rotoren beträgt 415mm.}
- \label{fig:pic-quad-top}
- \vspace{\baselineskip}
- \includegraphics[width=0.75\textwidth, trim= 0cm 1.5cm 0cm 0cm, clip]{../../common/photos/Quad-web-5.jpg}
- \caption{Draufsicht auf die Unterseite des Versuchsaufbaus}
- \label{fig:pic-quad-bot}
-\end{figure}
\chapter{Zusammenfassung}
-\section{Inhaltliches Fazit}
Abschließend lässt sich festhalten, dass alle Projektziele und -anforderungen
erfüllt werden konnten.
Nicht nur konnte eine Vernetzung der Einzelkomponenten RC-Empfänger, Mobiltelefon
und Flugsteuerung hergestellt und im Testbetrieb aufrecht erhalten werden, diese
konnte sich auch in mehreren Testflügen über einen Zeitraum von insgesamt mehr als
60 Minuten bewähren.
-\todo{Bezug auf gemessene Zykluszeiten nehmen}
+Weiterhin weist der im Rahmen des Projekts erstellte Scheduler mit ca.\ 0.1ms eine für den gegebenen Anwendungsfall mehr als ausreichende Echtzeitfähigkeit auf und stellt eine gute Grundlage für weitere echtzeitkritische Projekte auf Arduino-Basis dar.
\chapter{Ausblick}
Wie in der Zusammenfassung bereits verdeutlich, konnten alle Projektziele erreicht
diff --git a/SchedulerPerformance/src/PerformanceTest.cpp b/SchedulerPerformance/src/PerformanceTest.cpp
index e437c4f636c6111bbfdc5b35d0a73fc2510db943..7ac2ba2f2f6e883323a888750380e5f0a03dfb23 100644
--- a/SchedulerPerformance/src/PerformanceTest.cpp
+++ b/SchedulerPerformance/src/PerformanceTest.cpp
@@ -11,10 +11,10 @@
#include "Scheduler.h"
Scheduler *scheduler;
-rtTask rt1, rt2, rt3;
-rtTask *rtTasks[] = { &rt1, &rt2, &rt3, NULL };
-nRtTask nrt1, nrt2;
-//nRtTask *nRtTasks[] = { &nrt1, &nrt2, NULL };
+rtTask rt1, rt2;
+rtTask *rtTasks[] = { &rt1, &rt2, NULL };
+nRtTask nrt;
+//nRtTask *nRtTasks[] = { &nrt, NULL };
nRtTask *nRtTasks[] = { NULL };
long lastTime;
@@ -24,7 +24,7 @@ void no_Function (void)
return;
}
-void nrt1_Function (void)
+void nrt_Function (void)
{
//return;// do nothing
@@ -38,20 +38,6 @@ void nrt1_Function (void)
}
-void nrt2_Function (void)
- {
- //return;// do nothing
-
- long tmpTime = micros();
-
- Serial.print("Timestamp nrt2: ");
- Serial.print(tmpTime);
- Serial.print(", Diff (us): ");
- Serial.println(tmpTime - lastTime);
- lastTime = micros();
-
- }
-
void send_Function (void)
{
return;
@@ -66,13 +52,9 @@ void send_Function (void)
void setup()
{
Serial.begin(9600);
- nrt1.priority = 1;
- nrt1.activity = nrt1_Function;
- nrt1.timestamp = 0;
-
- nrt1.priority = 2;
- nrt2.activity = nrt2_Function;
- nrt2.timestamp = 0;
+ nrt.priority = 1;
+ nrt.activity = nrt_Function;
+ nrt.timestamp = 0;
rt1.activity = no_Function;
rt1.timestamp = 0;
@@ -82,10 +64,6 @@ void setup()
rt2.timestamp = 0;
rt2.cycleTime = 20000;
- rt3.activity = no_Function;
- rt3.timestamp = 0;
- rt3.cycleTime = 100000;
-
lastTime = micros();
scheduler = new Scheduler(rtTasks, nRtTasks);
diff --git a/Visual-Based-Landing-System/doc/Dokumentation_VBLS.pdf b/Visual-Based-Landing-System/doc/Dokumentation_VBLS.pdf
index 165aa3bdc0e358ba91d927b61e946fb18d81bada..52ea23d075b256475a9c634e74ac2ef554593753 100644
Binary files a/Visual-Based-Landing-System/doc/Dokumentation_VBLS.pdf and b/Visual-Based-Landing-System/doc/Dokumentation_VBLS.pdf differ
diff --git a/Visual-Based-Landing-System/doc/Dokumentation_VBLS.tex b/Visual-Based-Landing-System/doc/Dokumentation_VBLS.tex
index 24f4eb5139041bd4c6bc711e4de82c03d3023891..f9e343ae55a9a45c975a57b0ed47612cc6ff391a 100644
--- a/Visual-Based-Landing-System/doc/Dokumentation_VBLS.tex
+++ b/Visual-Based-Landing-System/doc/Dokumentation_VBLS.tex
@@ -1165,7 +1165,8 @@ Zunächst wird ein Daten-Array initialisiert, in das die zu versendenden Daten g
}
\end{lstlisting}
-Mittels der Service-Connnection sowie der Funktion \lstinline{startService} wird der Service aus der Activity heraus gestartet und an die Activity gebunden. Die Bindeanfrage wird dabei mittels des Intents \lstinline{bindingIntent} über die Funktion \lstinline{bindService} kommuniziert. \lstinline{startService} wird sowohl bei erstmaligem Erstellen der Applikation als auch, wenn die Anwendung aus gestopptem Zustand heraus fortgesetzt wird mittels \lstinline{onResume()} aufgerufen. Bei Pausieren (\lstinline{onPause()}) wird der Service gestoppt und der zugehörige Broadcast-Receiver mittels \lstinline{unregisterReceiver(...)} entfernt.
+Mittels der Service-Connnection sowie der Funktion \lstinline{startService} wird der Service aus der Activity heraus gestartet und an die Activity gebunden. Die Bindeanfrage wird dabei mittels des Intents \lstinline{bindingIntent} über die Funktion \lstinline{bindService} kommuniziert. \lstinline{startService} wird sowohl bei erstmaligem Erstellen der Applikation als auch, wenn die Anwendung aus gestopptem Zustand heraus fortgesetzt wird mittels \lstinline{onResume()} aufgerufen. Bei Pausieren (\lstinline{onPause()}) wird der Service gestoppt und der zugehörige Broadcast-Receiver mittels \lstinline{unre-}
+\lstinline{gisterReceiver(...)} entfernt.
\begin{lstlisting}[caption=Einrichtung des Broadcast-Receivers]
private final BroadcastReceiver mUsbReceiver = new
@@ -1455,7 +1456,7 @@ Dieses Projekt teilt sich einen gemeinsamen Versuchsaufbau mit einem Parallelpro
Im Folgenden soll ein Überblick über die Anordnung der Komponenten gegeben werden.
\\
\\
-Der Versuchsaufbau besteht aus einem Quadrocopter in X-Anordung.
+Der Versuchsaufbau besteht aus einem Quadrokopter in X-Anordung.
Die Hauptdiagonale zwischen zwei Rotoren beträgt 415mm, der Rotordurchmesser beträgt 210mm.
\begin{figure}[hbt]
@@ -1475,7 +1476,7 @@ Die Masse des Aufbaus beträgt 375g. Zu dieser kommen weitere 98g für den verwe
zwei-Zellen-LiPo vom Typ \glqq{}Gens ace 1800mAh-20C-7.4V-2S1P\grqq{}, sowie 142g
für das verwendete Mobiltelefon vom Typ \glqq{}HTC One S\grqq{} hinzu. Für die Gesamtmasse
des flugbereiten Aufbaus ergibt sich folglich ein Gewicht von 515g. Die maximale Tragfähigkeit des
-Quadrocopters ist nicht bekannt, das Flugverhalten bei diesem Gewicht suggeriert
+Quadrokopters ist nicht bekannt, das Flugverhalten bei diesem Gewicht suggeriert
jedoch eine Auslastung von etwa 70\%-80\%.
\\
@@ -1492,7 +1493,7 @@ Anhand von Abbildung \ref{fig:pic-quad-12} kann der schichtweise Aufbau des Test
\item{Arduino-Leonardo-kompatibler Olimexino 32u4 mit eigens angefertigter Adapterplatine,
um die Verdrahtung der Komponenten entsprechend den Anforderungen des vibrationsträchtigen Aufbaus
sicher zu gestalten (siehe Kapitel \ref{mischer}).}
- \item{Der ursprünglich von Weber (\cite[vgl.\ ][]{quadrocopterWeber2013}) im Rahmen eines Vorgängerprojekts konstruierte Quadrocopter mit neu ausgeführter Verdrahtung und Ergänzungen.}
+ \item{Der ursprünglich von Weber im Rahmen eines Vorgängerprojekts konstruierte Quadrokopter mit neu ausgeführter Verdrahtung und Ergänzungen \cite[vgl.\ ][]{quadrocopterWeber2013}.}
\item{Akku}
\item{Mobiltelefon mit VBLS-Applikation}
\end{itemize}
@@ -1517,7 +1518,7 @@ Um das UAV außerhalb der autonomen Landeplatzsuche steuern, sowie bei unerwarte
\section{Einstellung des Reglers}
-Um ein sicheres autonomes Flugverhalten während der Landeplatzdetektion realisieren zu können, ist eine korrekte Parametrierung des Reglers notwendig (vgl.\ Kapitel \ref{pid}). Zu diesem Zweck muss zunächst die Art des betrachteten Systems bestimmt werden. Dies kann beispielsweise durch die Betrachtung der Übergangsfunktion als Antwort auf eine Beaufschlagung des Systems mit einem Sprung des Eingangssignals (in diesem Fall z.\,B.\ das Erscheinen eines Kreises am äußeren Rand des betrachteten Bildes) geschehen. Mittels dieser Methode ergibt sich, dass es sich bei dem vorliegenden System, um ein IT1-System handelt. D.\,h.\ die Ausgangsgröße des Systems, in diesem Fall der zurückgelegte Weg des Quadrocopters in $x$- oder $y$-Richtung, verhält sich mit einer gewissen Anlaufverzögerung integral zur Eingangsgröße, dem Steuersignal in der entsprechenden Dimension. Dies entspricht dem erwarteten Verhalten, dass das UAV bei einem Sprung des Steuersignals nach einer Beschleunigungsphase (bedingt durch seine Massenträgheit) eine lineare Änderung der Trajektorie aufweist.
+Um ein sicheres autonomes Flugverhalten während der Landeplatzdetektion realisieren zu können, ist eine korrekte Parametrierung des Reglers notwendig (vgl.\ Kapitel \ref{pid}). Zu diesem Zweck muss zunächst die Art des betrachteten Systems bestimmt werden. Dies kann beispielsweise durch die Betrachtung der Übergangsfunktion als Antwort auf eine Beaufschlagung des Systems mit einem Sprung des Eingangssignals (in diesem Fall z.\,B.\ das Erscheinen eines Kreises am äußeren Rand des betrachteten Bildes) geschehen. Mittels dieser Methode ergibt sich, dass es sich bei dem vorliegenden System, um ein IT1-System handelt. D.\,h.\ die Ausgangsgröße des Systems, in diesem Fall der zurückgelegte Weg des Quadrokopters in $x$- oder $y$-Richtung, verhält sich mit einer gewissen Anlaufverzögerung integral zur Eingangsgröße, dem Steuersignal in der entsprechenden Dimension. Dies entspricht dem erwarteten Verhalten, dass das UAV bei einem Sprung des Steuersignals nach einer Beschleunigungsphase (bedingt durch seine Massenträgheit) eine lineare Änderung der Trajektorie aufweist.
Um nun dieses Systemverhalten stabilisieren zu können, muss ein PD-Regler verwendet werden. Somit lässt sich bereits an dieser Stelle schlussfolgern, dass der Integral-Anteil des implementierten PID-Reglers wegfallen muss, da dieser ansonsten zu instabilem Verhalten führen würde. Für die passende Parametrierung des Proportional- und Differential-Anteils sind hingegen Tests notwendig.
diff --git a/Visual-Based-Landing-System/doc/Dokumentation_VBLS_Korrektur_Philipp.pdf b/Visual-Based-Landing-System/doc/Dokumentation_VBLS_Korrektur_Philipp.pdf
deleted file mode 100644
index aade5db159f60d059632f072de7f8e06653fef2c..0000000000000000000000000000000000000000
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