mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.4 KiB
JSON
62 lines
1.4 KiB
JSON
# Callisto model, see https://www.freespaceoperations.com.au/
|
|
|
|
{
|
|
# total vehicle mass
|
|
"mass" : 32.5,
|
|
|
|
# vehicle diameter
|
|
"diagonal_size" : 1.325,
|
|
|
|
# the ref parameters should be taken from a test
|
|
# with the copter flying at constant speed in zero wind. This is used
|
|
# to estimate the drag coefficient
|
|
"refSpd" : 25.0, # m/s
|
|
"refAngle" : 30.0, # degrees
|
|
"refVoltage" : 46.9, # volts
|
|
"refCurrent" : 65.36, # Amps
|
|
"refAlt" : 26, # meters AMSL
|
|
"refTempC" : 25, # degrees C
|
|
"refBatRes" : 0.024, # BAT.Res from log
|
|
|
|
# full battery voltage
|
|
"maxVoltage" : 50.4,
|
|
|
|
# full battery capacity, Ah
|
|
"battCapacityAh" : 44,
|
|
|
|
# MOT_THST_EXPO
|
|
"propExpo" : 0.5,
|
|
|
|
# approximate maximum yaw rate in deg/sec
|
|
"refRotRate" : 120,
|
|
|
|
# hover throttle from 0 to 1
|
|
"hoverThrOut" : 0.36,
|
|
|
|
# MOT_PWM_MIN
|
|
"pwmMin" : 1000,
|
|
|
|
# MOT_PWM_MAX
|
|
"pwmMax" : 1940,
|
|
|
|
# MOT_SPIN_MIN
|
|
"spin_min" : 0.2,
|
|
|
|
# MOT_SPIN_MAX
|
|
"spin_max" : 0.975,
|
|
|
|
# maximum motor slew rate, or zero to disable
|
|
"slew_max" : 75,
|
|
|
|
# total effective disc area in sq m for 4 x 30 inch diameter rotors
|
|
# coaxial rotors count as a single rotor for this parameter)
|
|
"disc_area" : 1.82,
|
|
|
|
# momentum drag coefficient
|
|
# ratio of momentum drag relative to a ducted rotor of the same effective disc area
|
|
"mdrag_coef" : 0.10,
|
|
|
|
# number of motors
|
|
"num_motors" : 8
|
|
}
|