From 8cdddc2a6a0b606a5c1b1525bb6730456666b05f Mon Sep 17 00:00:00 2001 From: David Capek Date: Thu, 17 Oct 2024 14:47:09 +0200 Subject: [PATCH] Added the a300 and robofly configs --- config/uavs/a300.yaml | 36 ++++++++++++++++++++++++++++++++++++ config/uavs/robofly.yaml | 36 ++++++++++++++++++++++++++++++++++++ 2 files changed, 72 insertions(+) create mode 100644 config/uavs/a300.yaml create mode 100644 config/uavs/robofly.yaml diff --git a/config/uavs/a300.yaml b/config/uavs/a300.yaml new file mode 100644 index 0000000..bb5c23a --- /dev/null +++ b/config/uavs/a300.yaml @@ -0,0 +1,36 @@ +Agile: + + n_motors: 4 # [-] + mass: 1.21 # [kg] + arm_length: 0.15 # [m] + body_height: 0.05 # [m] + motor_time_constant: 0.05 # [s] + air_resistance_coeff: 0.30 # [-] + + propulsion: + + # force [N] = force_constant * rpm^2 + force_constant: 0.00000045 + + # moment [Nm] = moment_constant * force [N] + moment_constant: 0.0012 + + prop_radius: 0.089 # [m] + + # allocation motors -> moments + + # quadrotor X configuration + # [roll torque, [ [RPM_1^2, + # pitch torque, = Alloc * RPM_2^2, + # yaw torque, Matrix ... + # thrust force] ] RPM_n_motors^2] + allocation_matrix: [ + -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length + -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length + -1, -1, 1, 1, # *= moment_constant*force_constant + 1, 1, 1, 1, # *= force_constant + ] + + rpm: + min: 2400 # [revolutions/minute] + max: 3200 # [revolutions/minute] diff --git a/config/uavs/robofly.yaml b/config/uavs/robofly.yaml new file mode 100644 index 0000000..07b64ff --- /dev/null +++ b/config/uavs/robofly.yaml @@ -0,0 +1,36 @@ +robofly: + + n_motors: 4 # [-] + mass: 0.8 # [kg] + arm_length: 0.135 # [m] + body_height: 0.05 # [m] + motor_time_constant: 0.03 # [s] + air_resistance_coeff: 0.30 # [-] + + propulsion: + + # force [N] = force_constant * rpm^2 + force_constant: 0.00000027087 + + # moment [Nm] = moment_constant * force [N] + moment_constant: 0.07 + + prop_radius: 0.065 # [m] + + # allocation motors -> moments + + # quadrotor X configuration + # [roll torque, [ [RPM_1^2, + # pitch torque, = Alloc * RPM_2^2, + # yaw torque, Matrix ... + # thrust force] ] RPM_n_motors^2] + allocation_matrix: [ + -0.707, 0.707, 0.707, -0.707, # *= force_constant*arm_length + -0.707, 0.707, -0.707, 0.707, # *= force_constant*arm_length + -1, -1, 1, 1, # *= moment_constant*force_constant + 1, 1, 1, 1, # *= force_constant + ] + + rpm: + min: 1170 # [revolutions/minute] + max: 3000 # [revolutions/minute]