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SITL: improve dual heli dynamics model

This commit is contained in:
bnsgeyer 2024-04-04 21:14:42 -04:00 committed by Bill Geyer
parent 077c5f38f7
commit 9c2d43f6c4
1 changed files with 3 additions and 3 deletions
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6
libraries/SITL/SIM_Helicopter.cpp
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@ -33,7 +33,7 @@ Helicopter::Helicopter(const char *frame_str) :
_time_delay = 30; _time_delay = 30;
nominal_rpm = 1300; nominal_rpm = 1300;
mass = 9.08f; mass = 9.08f;
iyy = 0.2f; iyy = 5.0f;
} else if (strstr(frame_str, "-compound")) { } else if (strstr(frame_str, "-compound")) {
frame_type = HELI_FRAME_COMPOUND; frame_type = HELI_FRAME_COMPOUND;
_time_delay = 50; _time_delay = 50;
@ -218,7 +218,7 @@ void Helicopter::update(const struct sitl_input &input)
case HELI_FRAME_DUAL: { case HELI_FRAME_DUAL: {
float Ma1s = 617.5f; float Ma1s = 617.5f/5.0f;
float Lb1s = 3588.6f; float Lb1s = 3588.6f;
float Mu = 0.003f; float Mu = 0.003f;
float Lv = -0.006f; float Lv = -0.006f;
@ -259,7 +259,7 @@ void Helicopter::update(const struct sitl_input &input)
// rotational acceleration, in rad/s/s, in body frame // rotational acceleration, in rad/s/s, in body frame
rot_accel.x = (_tpp_angle_1.x + _tpp_angle_2.x) * Lb1s + Lv * velocity_air_bf.y; rot_accel.x = (_tpp_angle_1.x + _tpp_angle_2.x) * Lb1s + Lv * velocity_air_bf.y;
rot_accel.y = (_tpp_angle_1.y + _tpp_angle_2.y) * Ma1s + (thrust_1 - thrust_2) * hub_dist / iyy + Mu * velocity_air_bf.x + hub_dist * gyro.y * Zw; rot_accel.y = (_tpp_angle_1.y + _tpp_angle_2.y) * Ma1s + (thrust_1 - thrust_2) * hub_dist / iyy + Mu * velocity_air_bf.x;
rot_accel.z = (_tpp_angle_1.x * thrust_1 - _tpp_angle_2.x * thrust_2) * hub_dist / (iyy * 2.0f) - 0.5f * gyro.z; rot_accel.z = (_tpp_angle_1.x * thrust_1 - _tpp_angle_2.x * thrust_2) * hub_dist / (iyy * 2.0f) - 0.5f * gyro.z;
lateral_y_thrust = GRAVITY_MSS * (_tpp_angle_1.x + _tpp_angle_2.x) + Yv * velocity_air_bf.y; lateral_y_thrust = GRAVITY_MSS * (_tpp_angle_1.x + _tpp_angle_2.x) + Yv * velocity_air_bf.y;