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SITL: Sub: add square curve model to thruster

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This commit is contained in:
Willian Galvani 2019-11-28 12:40:10 -03:00 committed by Jacob Walser
parent 2e9bd43c49
commit 06e71b061a
1 changed files with 3 additions and 3 deletions
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6
libraries/SITL/SIM_Submarine.cpp
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@ -82,9 +82,9 @@ void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_a
output = (pwm - 1500) / 400.0; // range -1~1
}
// 2.5 scalar for approximate real-life performance of T200 thruster
body_accel += t.linear * output * frame_property.thrust / frame_property.weight;
rot_accel += t.rotational * output * frame_property.thrust * frame_property.thruster_mount_radius / frame_property.moment_of_inertia;
float thrust = output * fabs(output) * frame_property.thrust; // approximate pwm to thrust function using a quadratic curve
body_accel += t.linear * thrust / frame_property.weight;
rot_accel += t.rotational * thrust * frame_property.thruster_mount_radius / frame_property.moment_of_inertia;
}
float floor_depth = calculate_sea_floor_depth(position);