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Problem Description Setting the rotor diameters to diameter: 0.2032 results in huge motor constants.
diameter: 0.2032
I think the values are unreasonable, (probably it makes sense for it to increase about 25 times?)
To reproduce: #106
Before PR quadrotor_model.yaml
quadrotor_model.yaml
coefficients: c_d_wing_xy_lin: 0.022751869230557692 c_d_wing_xy_offset: 0.005741662399349513 c_d_wing_xy_quad: 0.0630041928511851 c_d_wing_xz_stall_90_deg: -0.04128438467976083 c_d_wing_xz_stall_min: 0.0057110318294756185 c_d_wing_y_offset: 0.007906539273005816 intercept: 0.0 vertical_c_m_drag_z_lin: -10.324851252250626 vertical_c_m_drag_z_quad: 6.0213939854338685 vertical_c_m_leaver_lin: -8.33722923229799 vertical_c_m_leaver_quad: 32.623014913712176 vertical_c_m_rolling: -1.467193735480539 vertical_rot_drag_lin: 0.12166778752250448 vertical_rot_thrust_lin: -0.1425458591033593 vertical_rot_thrust_quad: 4.003013943813853 metrics: R2: 0.9781734959524644 model: vertical_: - dataframe_name: u0 description: front right rotor position: - 0.13 - 0.22 - -0.023 rotor_0: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: -1 - dataframe_name: u1 description: back left rotor position: - -0.13 - -0.2 - -0.023 rotor_1: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: -1 - dataframe_name: u2 description: front left rotor position: - 0.13 - -0.2 - -0.023 rotor_2: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: 1 - dataframe_name: u3 description: back right rotor position: - -0.13 - 0.2 - -0.023 rotor_3: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: 1 numper of samples: 5650
After PR quadrotor_model.yaml
coefficients: c_d_wing_xy_lin: 0.02275186923057826 c_d_wing_xy_offset: 0.005741662398774494 c_d_wing_xy_quad: 0.06300419285146497 c_d_wing_xz_stall_90_deg: -0.041284384679179054 c_d_wing_xz_stall_min: 0.005711031829141788 c_d_wing_y_offset: 0.007906539272867441 intercept: 0.0 vertical_c_m_drag_z_lin: -29803.363896948467 vertical_c_m_drag_z_quad: 17381.150752720474 vertical_c_m_leaver_lin: -4890.203454982687 vertical_c_m_leaver_quad: 19135.035849196163 vertical_c_m_rolling: -1.4671937354805777 vertical_rot_drag_lin: 0.12166778752301603 vertical_rot_thrust_lin: -16.989613335289164 vertical_rot_thrust_quad: 2347.968620383804 metrics: R2: 0.9781734959524644 model: vertical_: - dataframe_name: u0 description: front right rotor diameter: 0.2032 position: - 0.13 - 0.22 - -0.023 rotor_0: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: -1 - dataframe_name: u1 description: back left rotor diameter: 0.2032 position: - -0.13 - -0.2 - -0.023 rotor_1: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: -1 - dataframe_name: u2 description: front left rotor diameter: 0.2032 position: - 0.13 - -0.2 - -0.023 rotor_2: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: 1 - dataframe_name: u3 description: back right rotor diameter: 0.2032 position: - -0.13 - 0.2 - -0.023 rotor_3: null rotor_axis: - 0 - 0 - -1 rotor_type: RotorModel turning_direction: 1 numper of samples: 5650
The text was updated successfully, but these errors were encountered:
Actually probably looks reasonable (or equivalent to rotor diameter 1
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Problem Description
Setting the rotor diameters to
diameter: 0.2032
results in huge motor constants.I think the values are unreasonable, (probably it makes sense for it to increase about 25 times?)
To reproduce: #106
Before PR
quadrotor_model.yaml
After PR
quadrotor_model.yaml
The text was updated successfully, but these errors were encountered: