mirror of https://github.com/ArduPilot/ardupilot
pysim: added rotational resistance
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@ -12,6 +12,7 @@ class QuadCopter(Aircraft):
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self.mass = 1.0 # Kg
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self.hover_throttle = 0.37
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self.terminal_velocity = 30.0
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self.terminal_rotation_rate = 4*360.0
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self.frame_height = 0.1
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# scaling from total motor power to Newtons. Allows the copter
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@ -39,6 +40,11 @@ class QuadCopter(Aircraft):
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pitch_accel = (m[2] - m[3]) * 5000.0
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yaw_accel = -((m[2]+m[3]) - (m[0]+m[1])) * 400.0
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# rotational resistance
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roll_accel -= (self.pDeg / self.terminal_rotation_rate) * 5000.0
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pitch_accel -= (self.qDeg / self.terminal_rotation_rate) * 5000.0
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yaw_accel -= (self.rDeg / self.terminal_rotation_rate) * 400.0
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# update rotational rates in body frame
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self.pDeg += roll_accel * delta_time
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self.qDeg += pitch_accel * delta_time
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