From ce0fac1072f1329127815eddfb8b636f8779fe12 Mon Sep 17 00:00:00 2001
From: spencerfolk <sfolk@seas.upenn.edu>
Date: Tue, 12 Dec 2023 14:04:59 -0500
Subject: [PATCH] Updated documentation on vehicle param file

---
 rotorpy/vehicles/crazyflie_params.py   | 8 +-------
 rotorpy/vehicles/hummingbird_params.py | 9 ++++-----
 2 files changed, 5 insertions(+), 12 deletions(-)

diff --git a/rotorpy/vehicles/crazyflie_params.py b/rotorpy/vehicles/crazyflie_params.py
index a10f6fb..be27777 100644
--- a/rotorpy/vehicles/crazyflie_params.py
+++ b/rotorpy/vehicles/crazyflie_params.py
@@ -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
diff --git a/rotorpy/vehicles/hummingbird_params.py b/rotorpy/vehicles/hummingbird_params.py
index a3838d9..f2b092d 100644
--- a/rotorpy/vehicles/hummingbird_params.py
+++ b/rotorpy/vehicles/hummingbird_params.py
@@ -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
 
 }
\ No newline at end of file