diff options
Diffstat (limited to 'uav_params.m')
| -rw-r--r-- | uav_params.m | 21 |
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: |