From 94a59267171f17cf0f0b31d4112bbe582d846189 Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Sat, 4 Feb 2017 19:42:44 -0600
Subject: [PATCH] Corrected ry value in model parameters
---
controls/model/modelParameters.m | 16 +++++-----------
1 file changed, 5 insertions(+), 11 deletions(-)
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 9dc4ceacd..63889536a 100644
--- a/controls/model/modelParameters.m
+++ b/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
--
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