From ea87a8b8c7218b2afa45e4b1565ed294c6980c9e Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Sat, 18 Feb 2017 00:25:11 -0600
Subject: [PATCH] Updated moment of inertia and delay values
---
controls/model/modelParameters.m | 8 +++-----
1 file changed, 3 insertions(+), 5 deletions(-)
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 37f6b9b12..49584c17b 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,11 +1,9 @@
% Model Parameters
m = 1.19; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
- %Jxx = 0.0218; % Quadrotor and battery motor of inertia around bx (pitch)
- %Jyy = 0.0277; % Quadrotor and battery motor of inertia around by (roll)
- Jxx = 0.0277;
- Jyy = 0.0218;
- Jzz = 0.0332; % Quadrotor and battery motor of inertia around bz (yaw)
+ Jxx = 0.0277 %* 0.25; % Quadrotor and battery motor of inertia around bx (pitch)
+ Jyy = 0.0218 %* 0.25; % Quadrotor and battery motor of inertia around by (roll)
+ Jzz = 0.0332 %* 0.25; % Quadrotor and battery motor of inertia around bz (yaw)
Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
Kt = 8.6519e-6; % Rotor thrust constant
Kh = 0; % Rotor in-plane drag constant
--
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