Python translations of Cybership II algorithms developed while working on my thesis Lindegaard (2003).

Matlab was everyone's main tool back in 1999-2001, and essentialy every module was drafted and tested in Matlab before porting them all to C or C++ as Simulink S-functions that could be compiled and executed on Cybership II. It worked OK, but the code is hardly readable for anyone, not even me, anymore.

However, I hope that the re-implementation in Python using standard libs like Numpy will be more accessible and encourage you to use and entend whatever I have to your projects and needs.

Python 2.7 and 3.X are supported. Dependencies are pretty basic (so far); Numpy

Tip: Use pip to install dependencies automatically.

pip install -r requirements.txt

This section covers the different parts comprising the final control system on Cybership II. Each module is given its own subfolder

In Lindegaard & Fossen (2002) we developed a novel thrust allocation algorithm for zero/low speed applications like dynamic positioning operations. The main objective was to make a continuous mapping from the commanded thrust over to propeller setpoints and rudder deflection angles.

The mapping consists of two steps.

1. ForceAllocation - map commanded thrust to generalized forces.
2. Force2Setpoint - map generalized forces to propeller/rudder setpoints.

Currently, only step 1 has been re-implemented.

For examples of use, please see the unit test file test_forcealloc.py.

BSD 2-Clause License