Update DK iteration and model structure

1 files changed, 15 insertions, 16 deletions

diff --git a/uav_params.m b/uav_params.m
index fdd519a..2ac187e 100644
--- a/uav_params.m
+++ b/uav_params.m
@@ -35,7 +35,7 @@ J = [
 ] * 1e-9;
 
 % Approximate propeller with a disk
-m_prop = 200e-3; % mass of propeller
+m_prop = 500e-3; % mass of propeller
 r_prop = 85e-3; % radius of propeller
 J_prop = .5 * m_prop * r_prop^2;
 
@@ -46,26 +46,23 @@ params.mechanical = struct(...
   'FlapZDistance', 98e-3, ... % flap distance along z from center of mass
   'InertiaTensor', J, ...
   'GyroscopicInertiaZ', J_prop, ... % assume small angle
-  'GyroscopicInertiaZUncertainty', .01 ... % in %
+  'GyroscopicInertiaZUncertainty', .05 ... % in %
 );
 
 % ------------------------------------------------------------------------
 % Actuator limits and measurements
 
 % Servos usually give a "speed" in seconds / 60 degrees without load
-servo_speed = 0.13; % seconds / 60 deg
-servo_angular_velocity = (60 / servo_speed) * (pi / 180); % rad / s
-
 params.actuators = struct(...
   'PropellerMaxAngularVelocity', 620.7, ... % in rad / s
   'ServoAbsMaxAngle', 20 * pi / 180, ... % in radians
   'ServoMaxTorque', 4.3 * 1e-2, ... % in kg / m
-  'ServoNominalAngularVelocity', servo_angular_velocity ...
+  'ServoSecondsTo60Deg', 0.13 ... % in s / 60 deg
 );
 
 % IMU runs in NDOF mode
 params.measurements = struct(...
-  'SensorFusionDelay', 30e-3, ... % in s
+  'SensorFusionDelay', 10e-3, ... % in s, from 100 Hz sampling rate
   'LIDARAccuracy', 10e-3, ... % in m
   'LIDARMaxDistance', 40, ... % inm
   'LIDARBandwidth', 100, ... % in Hz for z position
@@ -91,13 +88,13 @@ k_T = F_max / omega_max^2;
 % https://scienceworld.wolfram.com/physics/LiftCoefficient.html
 params.aerodynamics = struct(...
   'ThrustOmegaProp', k_T, ... % in s^2 / (rad * N)
-  'ThrustOmegaPropUncertainty', .01, ... % in %
+  'ThrustOmegaPropUncertainty', .05, ... % in %
   'FlapArea', 23e-3 * 10e-3, ... % in m^2
-  'FlapAreaUncertainty', .02, ... % in %
+  'FlapAreaUncertainty', .1, ... % in %
   'DragCoefficients', [0, 0], ... % TODO
   'DragCoefficientsUncertainties', [.1, .1], ... % in %
   'LiftCoefficient', 2 * pi, ... % TODO
-  'LiftCoefficientUncertainty', .05 ...% in %
+  'LiftCoefficientUncertainty', .1 ...% in %
 );
 
 
@@ -126,14 +123,16 @@ params.linearization = struct(...
 % Normalization (maximum values)
 
 params.normalization = struct(...
-  'HPosition', 1, ... % m
-  'VPosition', 1, ...% m
-  'HSpeed', 2, ... % m / s
-  'VSpeed', 2, ... % m / s
+  'FlapAngle', params.actuators.ServoAbsMaxAngle, ...
+  'ThrustAngularVelocity', params.actuators.PropellerMaxAngularVelocity, ...
+  'HPosition', .5, ... % m
+  'VPosition', .5, ...% m
+  'HSpeed', .5, ... % m / s
+  'VSpeed', .5, ... % m / s
   'PitchRollAngle', 10 * pi / 180, ... % rad
   'YawAngle', 5 * pi / 180, ... % rad
-  'AngularRate', 2 * pi / 180, ... % rad / s
-  'WindSpeed', 2 ... % m / s
+  'AngularRate', 1 * pi / 180, ... % rad / s
+  'WindSpeed', .01 ... % m / s
 );
 end
 % vim: ts=2 sw=2 et: