Beat Küng
3 years ago
committed by
Daniel Agar
10 changed files with 152 additions and 588 deletions
@ -1,560 +0,0 @@
@@ -1,560 +0,0 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved. |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* @file ActuatorEffectivenessMultirotorParams.c |
||||
* |
||||
* Parameters for the actuator effectiveness of multirotors. |
||||
* |
||||
* @author Julien Lecoeur <julien.lecoeur@gmail.com> |
||||
*/ |
||||
|
||||
/**
|
||||
* Position of rotor 0 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 0 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 0 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 0 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 0 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 0 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 0 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT0_MIN and CA_ACT0_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 0 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R0_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 1 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 1 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 1 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 1 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 1 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 1 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 1 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT1_MIN and CA_ACT1_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 1 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust, |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R1_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 2 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 2 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 2 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 2 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 2 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 2 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 2 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT2_MIN and CA_ACT2_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 2 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R2_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 3 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 3 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 3 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 3 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 3 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 3 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 3 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT3_MIN and CA_ACT3_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 3 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R3_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 4 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 4 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 4 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 4 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 4 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 4 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 4 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT4_MIN and CA_ACT4_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 4 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R4_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 5 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 5 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 5 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 5 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 5 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 5 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 5 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT5_MIN and CA_ACT5_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 5 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R5_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 6 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 6 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 6 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 6 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 6 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 6 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 6 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT6_MIN and CA_ACT6_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 6 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R6_KM, 0.05); |
||||
|
||||
/**
|
||||
* Position of rotor 7 along X body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_PX, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 7 along Y body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_PY, 0.0); |
||||
|
||||
/**
|
||||
* Position of rotor 7 along Z body axis |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_PZ, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 7 thrust vector, X body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_AX, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 7 thrust vector, Y body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_AY, 0.0); |
||||
|
||||
/**
|
||||
* Axis of rotor 7 thrust vector, Z body axis component |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_AZ, -1.0); |
||||
|
||||
/**
|
||||
* Thrust coefficient of rotor 7 |
||||
* |
||||
* The thrust coefficient if defined as Thrust = CT * u^2, |
||||
* where u (with value between CA_ACT7_MIN and CA_ACT7_MAX) |
||||
* is the output signal sent to the motor controller. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_CT, 0.0); |
||||
|
||||
/**
|
||||
* Moment coefficient of rotor 7 |
||||
* |
||||
* The moment coefficient if defined as Torque = KM * Thrust |
||||
* |
||||
* Use a positive value for a rotor with CCW rotation. |
||||
* Use a negative value for a rotor with CW rotation. |
||||
* |
||||
* @group Control Allocation |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(CA_MC_R7_KM, 0.05); |
||||
@ -0,0 +1,135 @@
@@ -0,0 +1,135 @@
|
||||
__max_num_mc_motors: &max_num_mc_motors 8 |
||||
|
||||
module_name: Control Allocation |
||||
|
||||
parameters: |
||||
- group: Control Allocation |
||||
definitions: |
||||
CA_AIRFRAME: |
||||
description: |
||||
short: Airframe selection |
||||
long: | |
||||
Defines which mixer implementation to use. |
||||
Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. |
||||
type: enum |
||||
values: |
||||
0: Multirotor |
||||
1: Standard VTOL (WIP) |
||||
2: Tiltrotor VTOL (WIP) |
||||
default: 0 |
||||
|
||||
# MC rotors |
||||
CA_MC_R_COUNT: |
||||
description: |
||||
short: Total number of rotors |
||||
type: enum |
||||
values: |
||||
0: 0 Motors |
||||
1: 1 Motor |
||||
2: 2 Motors |
||||
3: 3 Motors |
||||
4: 4 Motors |
||||
5: 5 Motors |
||||
6: 6 Motors |
||||
7: 7 Motors |
||||
8: 8 Motors |
||||
default: 0 |
||||
CA_MC_R${i}_PX: |
||||
description: |
||||
short: Position of rotor ${i} along X body axis |
||||
type: float |
||||
decimal: 2 |
||||
increment: 0.1 |
||||
unit: m |
||||
num_instances: *max_num_mc_motors |
||||
min: -100 |
||||
max: 100 |
||||
default: 0.0 |
||||
CA_MC_R${i}_PY: |
||||
description: |
||||
short: Position of rotor ${i} along Y body axis |
||||
type: float |
||||
decimal: 2 |
||||
increment: 0.1 |
||||
unit: m |
||||
num_instances: *max_num_mc_motors |
||||
min: -100 |
||||
max: 100 |
||||
default: 0.0 |
||||
CA_MC_R${i}_PZ: |
||||
description: |
||||
short: Position of rotor ${i} along Z body axis |
||||
type: float |
||||
decimal: 2 |
||||
increment: 0.1 |
||||
unit: m |
||||
num_instances: *max_num_mc_motors |
||||
min: -100 |
||||
max: 100 |
||||
default: 0.0 |
||||
|
||||
CA_MC_R${i}_AX: |
||||
description: |
||||
short: Axis of rotor ${i} thrust vector, X body axis component |
||||
long: Only the direction is considered (the vector is normalized). |
||||
type: float |
||||
decimal: 2 |
||||
increment: 0.1 |
||||
num_instances: *max_num_mc_motors |
||||
min: -100 |
||||
max: 100 |
||||
default: 0.0 |
||||
CA_MC_R${i}_AY: |
||||
description: |
||||
short: Axis of rotor ${i} thrust vector, Y body axis component |
||||
long: Only the direction is considered (the vector is normalized). |
||||
type: float |
||||
decimal: 2 |
||||
increment: 0.1 |
||||
num_instances: *max_num_mc_motors |
||||
min: -100 |
||||
max: 100 |
||||
default: 0.0 |
||||
CA_MC_R${i}_AZ: |
||||
description: |
||||
short: Axis of rotor ${i} thrust vector, Z body axis component |
||||
long: Only the direction is considered (the vector is normalized). |
||||
type: float |
||||
decimal: 2 |
||||
increment: 0.1 |
||||
num_instances: *max_num_mc_motors |
||||
min: -100 |
||||
max: 100 |
||||
default: -1.0 |
||||
|
||||
CA_MC_R${i}_CT: |
||||
description: |
||||
short: Thrust coefficient of rotor ${i} |
||||
long: | |
||||
The thrust coefficient if defined as Thrust = CT * u^2, |
||||
where u (with value between actuator minimum and maximum) |
||||
is the output signal sent to the motor controller. |
||||
type: float |
||||
decimal: 1 |
||||
increment: 1 |
||||
num_instances: *max_num_mc_motors |
||||
min: 0 |
||||
max: 100 |
||||
default: 6.5 |
||||
|
||||
CA_MC_R${i}_KM: |
||||
description: |
||||
short: Moment coefficient of rotor ${i} |
||||
long: | |
||||
The moment coefficient if defined as Torque = KM * Thrust. |
||||
|
||||
Use a positive value for a rotor with CCW rotation. |
||||
Use a negative value for a rotor with CW rotation. |
||||
type: float |
||||
decimal: 3 |
||||
increment: 0.01 |
||||
num_instances: *max_num_mc_motors |
||||
min: -1 |
||||
max: 1 |
||||
default: 0.05 |
||||
|
||||
Loading…
Reference in new issue