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Changes to Rotwing 7kg simulator and Actuator dynamics (#3394)
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* First push

* More airframes adapted
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@tmldeponti
tmldeponti authored Oct 15, 2024
1 parent 32074c9 commit 5ae4fd9
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Showing 7 changed files with 186 additions and 65 deletions.
2 changes: 1 addition & 1 deletion conf/airframes/AG/rot_wing_v3c_oneloop_optitrack_ext_pose_AG.xml
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Expand Up @@ -280,7 +280,7 @@
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<define name = "ACT_DYN" value = "{ 15.1f, 15.1f, 15.1f, 15.1f, 24.07f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_DYN" value = "{ 22.0f, 22.0f, 22.0f, 22.0f, 30.0f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_IS_SERVO" value = "{ 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0 }" />
<define name = "ACT_MAX" value = "{ 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -9600.0f, -9600.0f, -9600.0f, -M_PI_4, -M_PI_4}"/>
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2 changes: 1 addition & 1 deletion conf/airframes/tudelft/rotwing_v3c_oneloop.xml
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Expand Up @@ -286,7 +286,7 @@
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<define name = "ACT_DYN" value = "{ 15.1f, 15.1f, 15.1f, 15.1f, 24.07f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_DYN" value = "{ 22.0f, 22.0f, 22.0f, 22.0f, 30.0f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_IS_SERVO" value = "{ 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0 }" />
<define name = "ACT_MAX" value = "{ 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -9600.0f, -9600.0f, -9600.0f, -M_PI_4, -M_PI_4}"/>
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2 changes: 1 addition & 1 deletion conf/airframes/tudelft/rotwing_v3c_oneloop_optitrack.xml
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Expand Up @@ -291,7 +291,7 @@
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<define name = "ACT_DYN" value = "{ 15.1f, 15.1f, 15.1f, 15.1f, 24.07f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_DYN" value = "{ 22.0f, 22.0f, 22.0f, 22.0f, 30.0f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_IS_SERVO" value = "{ 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0 }" />
<define name = "ACT_MAX" value = "{ 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -9600.0f, -9600.0f, -9600.0f, -M_PI_4, -M_PI_4}"/>
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2 changes: 1 addition & 1 deletion conf/airframes/tudelft/rotwing_v3c_oneloop_optitrack_ext_pose.xml
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Expand Up @@ -275,7 +275,7 @@
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<define name = "ACT_DYN" value = "{ 15.1f, 15.1f, 15.1f, 15.1f, 24.07f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_DYN" value = "{ 22.0f, 22.0f, 22.0f, 22.0f, 30.0f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_IS_SERVO" value = "{ 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0 }" />
<define name = "ACT_MAX" value = "{ 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -9600.0f, -9600.0f, -9600.0f, -M_PI_4, -M_PI_4}"/>
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2 changes: 1 addition & 1 deletion conf/airframes/tudelft/rotwing_v3c_oneloop_simulation.xml
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Expand Up @@ -241,7 +241,7 @@
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<!-- | MF | MR | MB | ML | MP | ELE | RUD | AIL | FLA | PHI | THETA | -->
<define name = "ACT_DYN" value = "{ 15.1f, 15.1f, 15.1f, 15.1f, 24.07f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_DYN" value = "{ 22.0f, 22.0f, 22.0f, 22.0f, 30.0f, 50.00f, 50.00f, 50.00f, 50.00f, 0.00f, 0.00f }" />
<define name = "ACT_IS_SERVO" value = "{ 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0 }" />
<define name = "ACT_MAX" value = "{ 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, -9600.0f, -9600.0f, -9600.0f, -M_PI_4, -M_PI_4}"/>
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