cosmetic changes in uav yamls

ctu-mrs · Jan 3, 2024 · 7a42cf7 · 7a42cf7
1 parent 9378d60
commit 7a42cf7
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Showing 5 changed files with 1 addition and 71 deletions.
diff --git a/config/uavs/f330.yaml b/config/uavs/f330.yaml
@@ -19,21 +19,7 @@ f330:
 
     # allocation motors -> moments
 
-    # # quadrotor + configuration
-    # hexarotor X configuration
-    # [roll torque,      [            [RPM_1^2,
-    #  pitch torque,  =    Alloc    *  RPM_2^2,
-    #  yaw torque,         Matrix       ...
-    #  thrust force]              ]    RPM_n_motors^2]
-    # allocation_matrix: [
-    #   0,  0, 1,  -1, # *= force_constant*arm_length
-    #   -1, 1, 0,  0,  # *= force_constant*arm_length
-    #   1,  1, -1, -1, # *= moment_constant*force_constant
-    #   1,  1, 1,  1,  # *= force_constant
-    # ]
-
     # quadrotor X configuration
-    # hexarotor X configuration
     # [roll torque,      [            [RPM_1^2,
     #  pitch torque,  =    Alloc    *  RPM_2^2,
     #  yaw torque,         Matrix       ...

diff --git a/config/uavs/f450.yaml b/config/uavs/f450.yaml
@@ -19,21 +19,7 @@ f450:
 
     # allocation motors -> moments
 
-    # # quadrotor + configuration
-    # hexarotor X configuration
-    # [roll torque,      [            [RPM_1^2,
-    #  pitch torque,  =    Alloc    *  RPM_2^2,
-    #  yaw torque,         Matrix       ...
-    #  thrust force]              ]    RPM_n_motors^2]
-    # allocation_matrix: [
-    #   0,  0, 1,  -1, # *= force_constant*arm_length
-    #   -1, 1, 0,  0,  # *= force_constant*arm_length
-    #   1,  1, -1, -1, # *= moment_constant*force_constant
-    #   1,  1, 1,  1,  # *= force_constant
-    # ]
-
     # quadrotor X configuration
-    # hexarotor X configuration
     # [roll torque,      [            [RPM_1^2,
     #  pitch torque,  =    Alloc    *  RPM_2^2,
     #  yaw torque,         Matrix       ...

diff --git a/config/uavs/naki.yaml b/config/uavs/naki.yaml
@@ -19,21 +19,7 @@ naki:
 
     # allocation motors -> moments
 
-    # # quadrotor + configuration
-    # hexarotor X configuration
-    # [roll torque,      [            [RPM_1^2,
-    #  pitch torque,  =    Alloc    *  RPM_2^2,
-    #  yaw torque,         Matrix       ...
-    #  thrust force]              ]    RPM_n_motors^2]
-    # allocation_matrix: [
-    #   0,  0, 1,  -1, # *= force_constant*arm_length
-    #   -1, 1, 0,  0,  # *= force_constant*arm_length
-    #   1,  1, -1, -1, # *= moment_constant*force_constant
-    #   1,  1, 1,  1,  # *= force_constant
-    # ]
-
-    # quadrotor X configuration
-    # hexarotor X configuration
+    # coaxial octarotor X configuration
     # [roll torque,      [            [RPM_1^2,
     #  pitch torque,  =    Alloc    *  RPM_2^2,
     #  yaw torque,         Matrix       ...

diff --git a/config/uavs/t650.yaml b/config/uavs/t650.yaml
@@ -19,21 +19,7 @@ t650:
 
     # allocation motors -> moments
 
-    # # quadrotor + configuration
-    # hexarotor X configuration
-    # [roll torque,      [            [RPM_1^2,
-    #  pitch torque,  =    Alloc    *  RPM_2^2,
-    #  yaw torque,         Matrix       ...
-    #  thrust force]              ]    RPM_n_motors^2]
-    # allocation_matrix: [
-    #   0,  0, 1,  -1, # *= force_constant*arm_length
-    #   -1, 1, 0,  0,  # *= force_constant*arm_length
-    #   1,  1, -1, -1, # *= moment_constant*force_constant
-    #   1,  1, 1,  1,  # *= force_constant
-    # ]
-
     # quadrotor X configuration
-    # hexarotor X configuration
     # [roll torque,      [            [RPM_1^2,
     #  pitch torque,  =    Alloc    *  RPM_2^2,
     #  yaw torque,         Matrix       ...

diff --git a/config/uavs/x500.yaml b/config/uavs/x500.yaml
@@ -19,21 +19,7 @@ x500:
 
     # allocation motors -> moments
 
-    # # quadrotor + configuration
-    # hexarotor X configuration
-    # [roll torque,      [            [RPM_1^2,
-    #  pitch torque,  =    Alloc    *  RPM_2^2,
-    #  yaw torque,         Matrix       ...
-    #  thrust force]              ]    RPM_n_motors^2]
-    # allocation_matrix: [
-    #   0,  0, 1,  -1, # *= force_constant*arm_length
-    #   -1, 1, 0,  0,  # *= force_constant*arm_length
-    #   1,  1, -1, -1, # *= moment_constant*force_constant
-    #   1,  1, 1,  1,  # *= force_constant
-    # ]
-
     # quadrotor X configuration
-    # hexarotor X configuration
     # [roll torque,      [            [RPM_1^2,
     #  pitch torque,  =    Alloc    *  RPM_2^2,
     #  yaw torque,         Matrix       ...