From b49f73085954cd236b5140238029a6516022a9c5 Mon Sep 17 00:00:00 2001
From: Arnau Marzabal <amarzabal@iri.upc.edu>
Date: Tue, 5 Sep 2023 12:54:53 +0200
Subject: [PATCH] update borinot_platform params
---
yaml/borinot_platform.yaml | 31 ++++++++++++++-----------------
1 file changed, 14 insertions(+), 17 deletions(-)
diff --git a/yaml/borinot_platform.yaml b/yaml/borinot_platform.yaml
index 9335180..706f660 100644
--- a/yaml/borinot_platform.yaml
+++ b/yaml/borinot_platform.yaml
@@ -1,10 +1,7 @@
platform_params:
- cf: 4.511e-06 # cf computed with 60% thrust values (1196g at 15400rpm)
- # cf: 7.7e-06
- # cf: 1.2113e-06
- cm: 6.991478005829954e-08
- # cm: 4.5e-08
- # cm: 2.706e-7
+ cf: 3.847e-6
+ cm: 5.361e-8 # cm = 0.01393568 * 3.8e-4
+ torque_correction: 2.2e-4
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)
@@ -35,14 +32,14 @@ platform_params:
- translation: [-0.1602147, 0.0925, 0.0]
orientation: [0, 0, 0.965926, 0.258819]
spin_direction: [1]
- thrust_coeff: # opt 1
- k_const: 1
- k_d1: 1
- k_d2: 1
- k_d3: 0
- k_v1: 0
- k_v2: 0
- k_v3: 0
- k_d1v1: 0
- k_d2v1: 0
- k_d1v2: 0
+ thrust_coeff: # constants for duties in range [-1,1]
+ k_const: 50.56872739133902
+ k_d1: -1.91832776
+ k_d2: 1.92498767
+ k_d3: -1.61925776
+ k_v1: -6.91528916
+ k_v2: 3.34151266e-01
+ k_v3: -4.97846198e-03
+ k_d1v1: 5.05657455e-01
+ k_d2v1: -7.27929315e-02
+ k_d1v2: -1.78239227e-03
--
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