diff --git a/rosflight_sim/params/anaconda.yaml b/rosflight_sim/params/anaconda.yaml new file mode 100644 index 0000000..0374470 --- /dev/null +++ b/rosflight_sim/params/anaconda.yaml @@ -0,0 +1,96 @@ +# Parameters for ROSflight software-in-the-loop simulation, based on Sonicmodell Skyhunter 1800mm UAV. +# Authors: Ian Reid and Phil Tokumaru + +# Mass and inertia parameters are defined in fixedwing.urdf.xacro. +# Mass: 2.28 +# Jx: 0.141 +# Jy: 0.208 +# Jz: 0.293 +# Jxz: 0.04 + +/fixedwing/rosflight_sil: + ros__parameters: + rho: 1.2682 + + wing_s: .52 + wing_b: 2.08 + wing_c: 0.2350 + wing_M: 50.0 + wing_epsilon: 0.9 # revisit -- may not need this for the calculation + wing_alpha0: 0.05236 + + k_motor: 40.0 # revisit -- max exit velocity of air. + k_T_P: 0.0 + k_Omega: 0.0 + + prop_e: 0.8 + prop_S: 0.061575216 + prop_C: 1.0 + + servo_tau: .01 + + # Anaconda done for C_L + + C_L_O: .375 + C_L_alpha: 4.43 + C_L_beta: 0.0 + C_L_p: 0.0 + C_L_q: 1.89 + C_L_r: 0.0 + C_L_delta_a: 0.0 + C_L_delta_e: .09 # Correct sign? + C_L_delta_r: 0.0 + + # Anaconda done for C_D + + C_D_O: 0.045 + C_D_alpha: 0.03 # revisit + C_D_beta: 0.0 # revisit + C_D_p: 0.0 # revisit + C_D_q: 0.0 # revisit + C_D_r: 0.0 # revisit + C_D_delta_a: 0.0 # revisit + C_D_delta_e: 0.09 # revisit + C_D_delta_r: 0.0 # revisit + + C_ell_O: 0.0 + C_ell_alpha: 0.00 + C_ell_beta: -0.0790 + C_ell_p: -0.5077 + C_ell_q: 0.0 + C_ell_r: 0.1871 + C_ell_delta_a: 0.17 #change back/double check + C_ell_delta_e: 0.0 + C_ell_delta_r: 0.0 + + C_m_O: 0.01988 # Average of Skyhunter and Aerosonde + C_m_alpha: -2.008 # Average of Skyhunter and Aerosonde + C_m_beta: 0.0 + C_m_p: 0.0 + C_m_q: -22.351 + C_m_r: 0.0 + C_m_delta_a: 0.0 + C_m_delta_e: -.99 # Leaving this as is but not verified. + C_m_delta_r: 0.0 + + C_n_O: 0.0 + C_n_alpha: 0.0 + C_n_beta: 0.1301 + C_n_p: -0.0364 + C_n_q: 0.0 + C_n_r: -0.1541 + C_n_delta_a: -0.011 + C_n_delta_e: 0.0 + C_n_delta_r: 0.0 #check the sign on this + + # Anaconda done for C_Y + + C_Y_O: 0.0 + C_Y_alpha: 0.00 + C_Y_beta: -0.84 + C_Y_p: 0.0700 + C_Y_q: 0.0 + C_Y_r: 0.0 + C_Y_delta_a: 0.075 #check the sign on this + C_Y_delta_e: 0.0 + C_Y_delta_r: .2 #check the sign on this