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pysim: added rotational resistance

This commit is contained in:
Andrew Tridgell 2011-12-12 22:08:10 +11:00
parent 299b19cfe6
commit c1a23ef150
1 changed files with 6 additions and 0 deletions
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6
Tools/autotest/pysim/quadcopter.py
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@ -12,6 +12,7 @@ class QuadCopter(Aircraft):
self.mass = 1.0 # Kg self.mass = 1.0 # Kg
self.hover_throttle = 0.37 self.hover_throttle = 0.37
self.terminal_velocity = 30.0 self.terminal_velocity = 30.0
self.terminal_rotation_rate = 4*360.0
self.frame_height = 0.1 self.frame_height = 0.1
# scaling from total motor power to Newtons. Allows the copter # scaling from total motor power to Newtons. Allows the copter
@ -39,6 +40,11 @@ class QuadCopter(Aircraft):
pitch_accel = (m[2] - m[3]) * 5000.0 pitch_accel = (m[2] - m[3]) * 5000.0
yaw_accel = -((m[2]+m[3]) - (m[0]+m[1])) * 400.0 yaw_accel = -((m[2]+m[3]) - (m[0]+m[1])) * 400.0
# rotational resistance
roll_accel -= (self.pDeg / self.terminal_rotation_rate) * 5000.0
pitch_accel -= (self.qDeg / self.terminal_rotation_rate) * 5000.0
yaw_accel -= (self.rDeg / self.terminal_rotation_rate) * 400.0
# update rotational rates in body frame # update rotational rates in body frame
self.pDeg += roll_accel * delta_time self.pDeg += roll_accel * delta_time
self.qDeg += pitch_accel * delta_time self.qDeg += pitch_accel * delta_time