diff options
Diffstat (limited to 'uav_params.m')
| -rw-r--r-- | uav_params.m | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/uav_params.m b/uav_params.m index e87e4fd..fdd519a 100644 --- a/uav_params.m +++ b/uav_params.m @@ -40,7 +40,7 @@ r_prop = 85e-3; % radius of propeller J_prop = .5 * m_prop * r_prop^2; params.mechanical = struct(... - 'Mass', 3.0, ... + 'Mass', 3.5, ... 'DuctRadius', 46e-3, ... 'DuctHeight', 171e-3, ... 'FlapZDistance', 98e-3, ... % flap distance along z from center of mass @@ -65,7 +65,7 @@ params.actuators = struct(... % IMU runs in NDOF mode params.measurements = struct(... - 'SensorFusionDelay', 50e-3, ... % in s + 'SensorFusionDelay', 30e-3, ... % in s 'LIDARAccuracy', 10e-3, ... % in m 'LIDARMaxDistance', 40, ... % inm 'LIDARBandwidth', 100, ... % in Hz for z position @@ -91,13 +91,13 @@ 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', .05, ... % in % + 'ThrustOmegaPropUncertainty', .01, ... % in % 'FlapArea', 23e-3 * 10e-3, ... % in m^2 - 'FlapAreaUncertainty', .01, ... % in % - 'DragCoefficients', [1, .1], ... % TODO + 'FlapAreaUncertainty', .02, ... % in % + 'DragCoefficients', [0, 0], ... % TODO 'DragCoefficientsUncertainties', [.1, .1], ... % in % 'LiftCoefficient', 2 * pi, ... % TODO - 'LiftCoefficientUncertainty', .1 ...% in % + 'LiftCoefficientUncertainty', .05 ...% in % ); @@ -114,7 +114,7 @@ k = params.aerodynamics.ThrustOmegaProp; omega_hover = sqrt(m * g / k); params.linearization = struct(... - 'PadeApproxOrder', 2, ... + 'PadeApproxOrder', 3, ... 'Position', [0; 0; -2], ... % in inertial frame, z points down 'Velocity', [0; 0; 0], ... % in inertial frame 'Angles', [0; 0; pi / 4], ... % in body frame @@ -123,7 +123,7 @@ params.linearization = struct(... ); % ------------------------------------------------------------------------ -% Performance requirements +% Normalization (maximum values) params.normalization = struct(... 'HPosition', 1, ... % m |