diff options
Diffstat (limited to 'uav_params.m')
| -rw-r--r-- | uav_params.m | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/uav_params.m b/uav_params.m index 3ceda9e..0e82148 100644 --- a/uav_params.m +++ b/uav_params.m @@ -1,5 +1,5 @@ % Copyright (C) 2024, Naoki Sean Pross, ETH Zürich -% +% % Retrieve / compute parameters for UAV. function [params] = uav_params() @@ -34,16 +34,20 @@ params.mechanical = struct(... ); % ------------------------------------------------------------------------ -% Actuator limits +% Actuator limits and measurements % 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, ... + 'TurbineMaxSpeed', 620.7, ... % in rad / s + 'ServoAbsMaxAngle', 25 * pi / 180, ... % in radians + 'ServoNominalAngularVelocity', servo_angular_velocity ... +); + +params.measurements = struct(... + 'SensorFusionBandwidth', 1e3, ... 'MeasurementDelay', 8e-3 ... % delay caused by sensor fusion algorithm ); @@ -87,7 +91,8 @@ params.linearization = struct(... % Performance requirements params.performance = struct(... - 'MaxHorizontalSpeed', 1, ... + 'MaxHorizontalSpeed', 1e-2, ... % in m / s + 'MaxVerticalSpeed', 5e-2 ... % in m / s ); end |