Update a lot of small things and add SIMULINK model

1 files changed, 17 insertions, 4 deletions

diff --git a/uav_params.m b/uav_params.m
index dd0c101..3ceda9e 100644
--- a/uav_params.m
+++ b/uav_params.m
@@ -29,16 +29,21 @@ params.mechanical = struct(...
   'DuctRadius', 46e-3, ...
   'DuctHeight', 171e-3, ...
   'FlapZDistance', 98e-3, ... % flap distance along z from center of mass
-  'InertiaTensor', 5e-3 * eye(3), ... % TODO, assume diagonal
+  'InertiaTensor', 5e-3 * eye(3), ... % TODO true values, assume diagonal
   'GyroscopicInertiaZ', 0 ... % assume no gyroscopic effects for now
 );
 
 % ------------------------------------------------------------------------
 % Actuator limits
 
+% Cheap servos usually give a "speed" in seconds / 60 degrees without load
+servo_speed = 0.19; % seconds per 60 deg
+servo_angular_velocity = (pi / 3) / servo_speed;
+
 params.actuators = struct(...
   'TurbineMaxSpeed', 620.7, ... % In Hz
   'ServoAbsMaxAngleDeg', 25, ... % in Degrees
+  'ServoNominalAngularVelocity', servo_angular_velocity, ...
   'MeasurementDelay', 8e-3 ... % delay caused by sensor fusion algorithm
 );
 
@@ -53,9 +58,9 @@ F_max = 38.637; % in N (measured)
 k_T = sqrt(F_max / omega_max);
 
 params.aerodynamics = struct(...
-  'ThrustOmegaProp', k_T, ...
+  'ThrustOmegaProp', k_T, ... % in s^2 / (rad * N)
   'FlapArea', 23e-3 * 10e-3 * 1.5, ... % FIXME factor 150% was chosen at random
-  'DragCoefficients', [1, 1] .* 1e-3, ... % TODO
+  'DragCoefficients', [1, 4] .* 1e-3, ... % TODO
   'LiftCoefficient', 1e-3 ... % TODO
 );
 
@@ -78,4 +83,12 @@ params.linearization = struct(...
   'Inputs', [0; 0; 0; 0; omega_hover] ... % Flaps at rest and turbine at X
 );
 
-end
\ No newline at end of file
+% ------------------------------------------------------------------------
+% Performance requirements
+
+params.performance = struct(...
+  'MaxHorizontalSpeed', 1, ...
+);
+
+end
+% vim: ts=2 sw=2 et: