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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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9
rotorpy/vehicles/hummingbird_params.py
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@@ -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
}