Corrected ry value in model parameters

controls/model/modelParameters.m

@@ -4,23 +4,17 @@
     Jxx = 0.0218;                   % Quadrotor and battery motor of inertia around bx (pitch)
     Jyy = 0.0277;                   % Quadrotor and battery motor of inertia around by (roll)
     Jzz = 0.0332;                   % Quadrotor and battery motor of inertia around bz (yaw)
-    Jreq = 4.2012e-05;              % Rotor and motor moment of inertia around axis of rotation
-    %Kt = 8.1558*10^-6;              % Rotor thrust constant
-    Kt = 8.6519e-6;
+    Jreq = 4.2012e-05;              % Rotor and motor moment of inertia around axis of rotation 
+    Kt = 8.6519e-6;                 % Rotor thrust constant
     Kh = 0;                         % Rotor in-plane drag constant
-    %Kd = 1.8087e-07;               % Rotor drag constant
-    %Kd = 1.7473e-07;
-    %Kd = 1.0327e-7;                % Kd value without rotor 3
-    Kd = 1.0317e-7;
+    Kd = 1.0317e-7;                 % Rotor drag constant
     rhx = 0.16;                     % X-axis distance from center of mass to a rotor hub
-    rhy = 016;                      % Y-axis distance from center of mass to a rotor hub
+    rhy = 0.16;                     % Y-axis distance from center of mass to a rotor hub
     rhz = 0.03;                     % Z-axis distance from center of mass to a rotor hub
     Rm = 0.2308;                    % Motor resistance
     Kq = 96.3422;                   % Motor torque constant
     Kv = 96.3422;                   % Motor back emf constant
     If = 0.511;                     % Motor internal friction current
-    %Pmin = 0.40;                   % Minimum zybo output duty cycle command
-    %Pmax = 0.80;                   % Maximum zybo output duty cycle command
     Pmin = 1e5;                     % Minimum zybo output duty cycle command
     Pmax = 2e5;                     % Maximum zybo output duty cycle command
     Tc = 0.01;                      % Camera system sampling period
@@ -35,4 +29,4 @@
     height_controlled_o = (((Rm*If + ...
     + (((omega_o * 2 * Rm * Kv * Kq  ...
     * Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
-    *Kd))/Vb)*(Pmax- Pmin)+Pmin);
+    *Kd))/Vb)*(Pmax- Pmin)+Pmin);
\ No newline at end of file