fix rofocry and a300 configs

ctu-mrs · Nov 6, 2024 · a3443ce · a3443ce
1 parent 4d923d7
commit a3443ce
Show file tree

Hide file tree

Showing 9 changed files with 36 additions and 24 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
+.vscode/
 
 # ignore temp files
 *~

diff --git a/config/mrs_uav_system/a300.yaml b/config/mrs_uav_system/a300.yaml
@@ -8,8 +8,8 @@ uav_mass: 1.21 # overall mass of the drone
 # zero throttle thrist must correspond to min_rpm sqrt(0.460832101/0.000000045) = 3200,111459864
 motor_params:
   n_motors: 4
-  a: 0.2600
-  b: -0.1765
+  a: 0.2300
+  b: -0.0765
 
 # these model parameters can be used when
 # - 'attitude rate', and/or
@@ -22,7 +22,7 @@ model_params:
   propulsion:
     # force [N] = force_constant * rpm^2
     # for 21400 max rpm it is 20,475625 N then the force constant is 0.000000045
-    force_constant: 0.000000045
+    force_constant: 0.000000046626
 
     # torque [Nm] = torque_constant * force [N]
     torque_constant: 0.012 # 0.014 torque computed from power (efficiency estimated as 85% )
@@ -49,8 +49,8 @@ model_params:
     # inertia_matrix: []
 
     rpm:
-      min: 3200 # [revolutions/minute]
-      max: 21400 # [revolutions/minute]
+      min: 3103 # [revolutions/minute]
+      max: 20689 # [revolutions/minute]
 
 mrs_uav_managers:
   constraint_manager:

diff --git a/config/mrs_uav_system/robofly.yaml b/config/mrs_uav_system/robofly.yaml
@@ -8,25 +8,25 @@ uav_mass: 0.8 # overall mass of the drone
 # zero throttle thrist must correspond to min_rpm sqrt(0.460832101/0.000000045) = 3200,111459864
 motor_params:
   n_motors: 4
-  a: 0.2882
-  b: -0.0895
+  a:  0.26453
+  b: -0.15
 # these model parameters can be used when
 # - 'attitude rate', and/or
 # - 'actuator control'
 # are done by the MRS system.
 model_params:
   arm_length: 0.135 # [m]
-  body_height: 0.05 # [m]
+  body_height: 0.07 # [m]
 
   propulsion:
     # force [N] = force_constant * rpm^2
     # for 21400 max rpm it is 20,475625 N then the force constant is 0.000000045
-    force_constant: 0.000000045
+    force_constant: 0.00000000843
 
     # torque [Nm] = torque_constant * force [N]
     torque_constant: 0.012 # 0.014 torque computed from power (efficiency estimated as 85% )
 
-    prop_radius: 0.065 # [m]
+    prop_radius: 0.09 # [m]
 
     # allocation motors -> torques
 
@@ -48,8 +48,8 @@ model_params:
     # inertia_matrix: []
 
     rpm:
-      min: 2400 # [revolutions/minute]
-      max: 3200 # [revolutions/minute]
+      min: 2058 # [revolutions/minute]
+      max: 41160 # [revolutions/minute]
 
 mrs_uav_managers:
   constraint_manager:

diff --git a/config/uavs/a300.yaml b/config/uavs/a300.yaml
@@ -10,10 +10,10 @@ a300:
   propulsion:
 
     # force [N] = force_constant * rpm^2
-    force_constant: 0.00000045
+    force_constant: 0.000000046626
 
     # moment [Nm] = moment_constant * force [N]
-    moment_constant: 0.0012
+    moment_constant: 0.012
 
     prop_radius: 0.089 # [m]
 
@@ -32,5 +32,5 @@ a300:
     ]
 
     rpm:
-      min: 2400 # [revolutions/minute]
-      max: 3200 # [revolutions/minute]
+      min: 3103 # [revolutions/minute]
+      max: 20689 # [revolutions/minute]
diff --git a/config/uavs/robofly.yaml b/config/uavs/robofly.yaml
@@ -3,19 +3,19 @@ robofly:
   n_motors: 4                # [-]
   mass: 0.8                  # [kg]
   arm_length: 0.135           # [m]
-  body_height: 0.05           # [m]
+  body_height: 0.07           # [m]
   motor_time_constant: 0.03  # [s]
   air_resistance_coeff: 0.30 # [-]
 
   propulsion:
 
     # force [N] = force_constant * rpm^2
-    force_constant: 0.00000045
+    force_constant: 0.00000000843
 
     # moment [Nm] = moment_constant * force [N]
-    moment_constant: 0.0012
+    moment_constant: 0.012
 
-    prop_radius: 0.065 # [m]
+    prop_radius: 0.09 # [m]
 
     # allocation motors -> moments
 
@@ -32,5 +32,5 @@ robofly:
     ]
 
     rpm:
-      min: 2400 # [revolutions/minute]
-      max: 3200 # [revolutions/minute]
+      min: 2058 # [revolutions/minute]
+      max: 41160 # [revolutions/minute]
diff --git a/launch/multirotor_simulator.launch b/launch/multirotor_simulator.launch
@@ -33,6 +33,8 @@
     <rosparam file="$(find mrs_multirotor_simulator)/config/uavs/x500.yaml" />
     <rosparam file="$(find mrs_multirotor_simulator)/config/uavs/t650.yaml" />
     <rosparam file="$(find mrs_multirotor_simulator)/config/uavs/naki.yaml" />
+    <rosparam file="$(find mrs_multirotor_simulator)/config/uavs/a300.yaml" />
+    <rosparam file="$(find mrs_multirotor_simulator)/config/uavs/robofly.yaml" />
 
     <rosparam file="$(find mrs_multirotor_simulator)/config/controllers/mixer.yaml" />
     <rosparam file="$(find mrs_multirotor_simulator)/config/controllers/rate_controller.yaml" />

diff --git a/tmux/mrs_one_drone/config/simulator.yaml b/tmux/mrs_one_drone/config/simulator.yaml
@@ -12,7 +12,7 @@ uav_names: [
 ]
 
 uav1:
-  type: "x500"
+  type: "robofly"
   spawn:
     x: 10.0
     y: 15.0

diff --git a/tmux/mrs_one_drone/session.yml b/tmux/mrs_one_drone/session.yml
@@ -5,7 +5,7 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=robofly
 startup_window: control
 windows:
   - roscore:

diff --git a/tmux/standalone/custom_configs/simulator.yaml b/tmux/standalone/custom_configs/simulator.yaml
@@ -1,3 +1,12 @@
 frames:
   fcu:
     publish_tf: true
+
+uav1:
+  type: "a300"
+  spawn:
+    x: 10.0
+    y: 15.0
+    z: 0.0
+    heading: 3.14
+
-Original file line number
+Diff line change
@@ Expand Up / @@ -12,7 +12,7 @@ uav_names: [ @@
     ]
     uav1:
-      type: "x500"
+      type: "robofly"
       spawn:
         x: 10.0
         y: 15.0
@@ Expand Down @@