From 0e06f43d35972bbea04f526df0159630decf8562 Mon Sep 17 00:00:00 2001 From: Arnau Marzabal Gatell <amarzabal@iri.upc.edu> Date: Fri, 28 Jul 2023 16:09:19 +0200 Subject: [PATCH] add borinot_platfrom_simulation --- yaml/borinot_platform_simulation.yaml | 44 +++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 yaml/borinot_platform_simulation.yaml diff --git a/yaml/borinot_platform_simulation.yaml b/yaml/borinot_platform_simulation.yaml new file mode 100644 index 0000000..a7ae698 --- /dev/null +++ b/yaml/borinot_platform_simulation.yaml @@ -0,0 +1,44 @@ +platform_params: + cf: 4.511e-06 # cf computed with 60% thrust values (1196g at 15400rpm) + cm: 2.706e-07 + max_thrust: 10 # Thrust limited to 10 N. Max available: 20.6991 + min_thrust: 0.0 + max_prop_speed: 2236.0 # Corresponding to its max (21350 rpm) + min_prop_speed: 0.0 + base_link_name: "borinot__base_link" + n_rotors: 6 + $rotors: + - translation: [0.0, -0.185, 0.0] + orientation: [0, 0, -0.707107, 0.707107] + spin_direction: [1] + + - translation: [0.0, 0.185, 0.0] + orientation: [0, 0, 0.707107, 0.707107] + spin_direction: [-1] # (-) means CCW + + - translation: [0.1602147, 0.0925, 0.0] + orientation: [0, 0, 0.258819, 0.965926] # x, y, z, w + spin_direction: [1] + + - translation: [-0.1602147, -0.0925, 0.0] + orientation: [0, 0, 0.965926, -0.258819] + spin_direction: [-1] + + - translation: [0.1602147, -0.0925, 0.0] + orientation: [0, 0, -0.258819, 0.965926] + spin_direction: [-1] + + - translation: [-0.1602147, 0.0925, 0.0] + orientation: [0, 0, 0.965926, 0.258819] + spin_direction: [1] + thrust_coeff: # calculated from the quadratic aproximation + k_const: 5.618252 + k_d1: -0.0112365 + k_d2: 5.61825e-6 + k_d3: 0 + k_v1: 0 + k_v2: 0 + k_v3: 0 + k_d1v1: 0 + k_d2v1: 0 + k_d1v2: 0 -- GitLab