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Updated documentation on vehicle param file

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spencerfolk
2023-12-12 14:04:59 -05:00
parent 29ff3b9ddf
commit ce0fac1072
2 changed files with 5 additions and 12 deletions
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8
rotorpy/vehicles/crazyflie_params.py
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@@ -11,7 +11,7 @@ Notes:
"""
import numpy as np
d = 0.043
d = 0.043 # Arm length
quad_params = {
@@ -26,12 +26,6 @@ quad_params = {
# Geometric properties, all vectors are relative to the center of mass.
'num_rotors': 4, # for looping over each actuator
# 'rotor_pos': {
# 'r1': np.array([0.046, 0, 0]), # Location of Rotor 1, meters
# 'r2': np.array([0, 0.046, 0]), # Location of Rotor 2, meters
# 'r3': np.array([-0.046, 0, 0]), # Location of Rotor 3, meters
# 'r4': np.array([0, -0.046, 0]), # Location of Rotor 4, meters
# },
'rotor_pos': {
'r1': d*np.array([ 0.70710678118, 0.70710678118, 0]), # Location of Rotor 1, meters
'r2': d*np.array([ 0.70710678118,-0.70710678118, 0]), # Location of Rotor 2, meters

9
rotorpy/vehicles/hummingbird_params.py
View File

@@ -9,7 +9,7 @@ Notes:
"""
import numpy as np
d = 0.17
d = 0.17 # Arm length
quad_params = {
@@ -42,17 +42,16 @@ quad_params = {
'c_Dz': 1e-2, # parasitic drag in body z axis, N/(m/s)**2
# Rotor properties
# See "System Identification of the Crazyflie 2.0 Nano Quadrocopter", Forster 2015.
'k_eta': 5.57e-06, # thrust coefficient N/(rad/s)**2
'k_m': 1.36e-07, # yaw moment coefficient Nm/(rad/s)**2
'k_d': 1.19e-04, # rotor drag coefficient N/(rad*m/s**2) = kg/rad
'k_z': 2.32e-04, # induced inflow coefficient N/(rad*m/s**2) = kg/rad
'k_z': 2.32e-04, # induced inflow coefficient N/(rad*m/s**2) = kg/rad
'k_flap': 0.0, # Flapping moment coefficient Nm/(rad*m/s**2) = kg*m/rad
# Motor properties
'tau_m': 0.005, # motor response time, seconds
'tau_m': 0.005, # motor response time, seconds
'rotor_speed_min': 0, # rad/s
'rotor_speed_max': 1500, # rad/s
'motor_noise_std': 50, # rad/s
'motor_noise_std': 50, # rad/s
}