From 7b2c727900452ecefe3ca78fe4d56140d15af53e Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Sat, 4 Feb 2017 16:45:51 -0600
Subject: [PATCH] Updated model parameters Kd, Kt, rx, ry, and rz

---
 controls/model/modelParameters.m              |  10 +++++-----
 .../ModelingParameters.docx                   | Bin 14315 -> 14497 bytes
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 103e14e9b..9dc4ceacd 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -10,11 +10,11 @@
     Kh = 0;                         % Rotor in-plane drag constant
     %Kd = 1.8087e-07;               % Rotor drag constant
     %Kd = 1.7473e-07;
-    %Kd = 1.0327e-6;                 % Kd value without rotor 3
-    Kd = 1.0317e-6;
-    rhx = 0.016;                    % X-axis distance from center of mass to a rotor hub
-    rhy = 0.016;                    % Y-axis distance from center of mass to a rotor hub
-    rhz = 0.003;                    % Z-axis distance from center of mass to a rotor hub
+    %Kd = 1.0327e-7;                % Kd value without rotor 3
+    Kd = 1.0317e-7;
+    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
+    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
diff --git a/controls/parameterIdentification/ModelingParameters.docx b/controls/parameterIdentification/ModelingParameters.docx
index fcf758acb355225ec99b41114ae2bcb501574ee1..0ffd67157fe73136e056cb4150359e31c92327f6 100644
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