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| author | Nao Pross <np@0hm.ch> | 2024-04-05 01:30:24 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2024-04-05 01:30:24 +0200 |
| commit | 4cafd296724faa1023b289029f0fcf7ba92cce95 (patch) | |
| tree | 2154211f48e525940735495ba06291a30eeb60be /uav_params.m | |
| parent | Move uncertain model design into uav_model and add more design parameter (diff) | |
| download | uav-4cafd296724faa1023b289029f0fcf7ba92cce95.tar.gz uav-4cafd296724faa1023b289029f0fcf7ba92cce95.zip | |
Replace LQR with H-infinity design
Diffstat (limited to '')
| -rw-r--r-- | uav_params.m | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/uav_params.m b/uav_params.m index 0e82148..7bed89c 100644 --- a/uav_params.m +++ b/uav_params.m @@ -1,6 +1,6 @@ -% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich +% Retrieve or compute parameters for ducted-fan VTOL micro-UAV. % -% Retrieve / compute parameters for UAV. +% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich function [params] = uav_params() @@ -48,7 +48,7 @@ params.actuators = struct(... params.measurements = struct(... 'SensorFusionBandwidth', 1e3, ... - 'MeasurementDelay', 8e-3 ... % delay caused by sensor fusion algorithm + 'SensorFusionDelay', 8e-3 ... ); % ------------------------------------------------------------------------ @@ -73,6 +73,7 @@ params.aerodynamics = struct(... % Compute theoretical thrust required to make the UAV hover % from the relation mg = k * omega^2 +% FIXME: This value should probably be replaced with a measurement g = params.physics.Gravity; m = params.mechanical.Mass; k = params.aerodynamics.ThrustOmegaProp; |