From ee7acced17c3305b2b6e9792bd3323729852b8a5 Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Sat, 18 Feb 2017 20:22:25 -0600
Subject: [PATCH] Updated Moment of Inertia Model Parameters
---
controls/model/modelParameters.m | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 49584c17b..e457e0332 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,9 +1,12 @@
% Model Parameters
- m = 1.19; % Quadrotor + battery mass
+ m = 1.244; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
- 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)
+% Jxx = 0.0277; % Quadrotor and battery motor of inertia around bx (pitch)
+% Jyy = 0.0218; % Quadrotor and battery motor of inertia around by (roll)
+% Jzz = 0.0332; % Quadrotor and battery motor of inertia around bz (yaw)
+ Jxx = 0.0130; % Quadrotor and battery motor of inertia around bx (pitch)
+ Jyy = 0.0140; % Quadrotor and battery motor of inertia around by (roll)
+ Jzz = 0.0285; % 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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