diff --git a/.gitignore b/.gitignore index c136f4d..5373432 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ +.vscode/ # ignore temp files *~ diff --git a/config/mrs_uav_system/a300.yaml b/config/mrs_uav_system/a300.yaml index ddb9da3..7739266 100644 --- a/config/mrs_uav_system/a300.yaml +++ b/config/mrs_uav_system/a300.yaml @@ -8,8 +8,8 @@ uav_mass: 1.21 # overall mass of the drone # zero throttle thrist must correspond to min_rpm sqrt(0.460832101/0.000000045) = 3200,111459864 motor_params: n_motors: 4 - a: 0.2600 - b: -0.1765 + a: 0.2300 + b: -0.0765 # these model parameters can be used when # - 'attitude rate', and/or @@ -22,7 +22,7 @@ model_params: propulsion: # force [N] = force_constant * rpm^2 # for 21400 max rpm it is 20,475625 N then the force constant is 0.000000045 - force_constant: 0.000000045 + force_constant: 0.000000046626 # torque [Nm] = torque_constant * force [N] torque_constant: 0.012 # 0.014 torque computed from power (efficiency estimated as 85% ) @@ -49,8 +49,8 @@ model_params: # inertia_matrix: [] rpm: - min: 3200 # [revolutions/minute] - max: 21400 # [revolutions/minute] + min: 3103 # [revolutions/minute] + max: 20689 # [revolutions/minute] mrs_uav_managers: constraint_manager: diff --git a/config/mrs_uav_system/robofly.yaml b/config/mrs_uav_system/robofly.yaml index 61460c8..5802784 100644 --- a/config/mrs_uav_system/robofly.yaml +++ b/config/mrs_uav_system/robofly.yaml @@ -8,25 +8,25 @@ uav_mass: 0.8 # overall mass of the drone # zero throttle thrist must correspond to min_rpm sqrt(0.460832101/0.000000045) = 3200,111459864 motor_params: n_motors: 4 - a: 0.2882 - b: -0.0895 + a: 0.26453 + b: -0.15 # these model parameters can be used when # - 'attitude rate', and/or # - 'actuator control' # are done by the MRS system. model_params: arm_length: 0.135 # [m] - body_height: 0.05 # [m] + body_height: 0.07 # [m] propulsion: # force [N] = force_constant * rpm^2 # for 21400 max rpm it is 20,475625 N then the force constant is 0.000000045 - force_constant: 0.000000045 + force_constant: 0.00000000843 # torque [Nm] = torque_constant * force [N] torque_constant: 0.012 # 0.014 torque computed from power (efficiency estimated as 85% ) - prop_radius: 0.065 # [m] + prop_radius: 0.09 # [m] # allocation motors -> torques @@ -48,8 +48,8 @@ model_params: # inertia_matrix: [] rpm: - min: 2400 # [revolutions/minute] - max: 3200 # [revolutions/minute] + min: 2058 # [revolutions/minute] + max: 41160 # [revolutions/minute] mrs_uav_managers: constraint_manager: diff --git a/config/uavs/a300.yaml b/config/uavs/a300.yaml index c123fdf..bd8ecf3 100644 --- a/config/uavs/a300.yaml +++ b/config/uavs/a300.yaml @@ -10,10 +10,10 @@ a300: propulsion: # force [N] = force_constant * rpm^2 - force_constant: 0.00000045 + force_constant: 0.000000046626 # moment [Nm] = moment_constant * force [N] - moment_constant: 0.0012 + moment_constant: 0.012 prop_radius: 0.089 # [m] @@ -32,5 +32,5 @@ a300: ] rpm: - min: 2400 # [revolutions/minute] - max: 3200 # [revolutions/minute] + min: 3103 # [revolutions/minute] + max: 20689 # [revolutions/minute] diff --git a/config/uavs/robofly.yaml b/config/uavs/robofly.yaml index 8802ddb..dcfad0a 100644 --- a/config/uavs/robofly.yaml +++ b/config/uavs/robofly.yaml @@ -3,19 +3,19 @@ robofly: n_motors: 4 # [-] mass: 0.8 # [kg] arm_length: 0.135 # [m] - body_height: 0.05 # [m] + body_height: 0.07 # [m] motor_time_constant: 0.03 # [s] air_resistance_coeff: 0.30 # [-] propulsion: # force [N] = force_constant * rpm^2 - force_constant: 0.00000045 + force_constant: 0.00000000843 # moment [Nm] = moment_constant * force [N] - moment_constant: 0.0012 + moment_constant: 0.012 - prop_radius: 0.065 # [m] + prop_radius: 0.09 # [m] # allocation motors -> moments @@ -32,5 +32,5 @@ robofly: ] rpm: - min: 2400 # [revolutions/minute] - max: 3200 # [revolutions/minute] + min: 2058 # [revolutions/minute] + max: 41160 # [revolutions/minute] diff --git a/launch/multirotor_simulator.launch b/launch/multirotor_simulator.launch index 9bbdcae..1c5ec46 100644 --- a/launch/multirotor_simulator.launch +++ b/launch/multirotor_simulator.launch @@ -33,6 +33,8 @@ + + diff --git a/tmux/mrs_one_drone/config/simulator.yaml b/tmux/mrs_one_drone/config/simulator.yaml index 7f7346a..7643b3f 100644 --- a/tmux/mrs_one_drone/config/simulator.yaml +++ b/tmux/mrs_one_drone/config/simulator.yaml @@ -12,7 +12,7 @@ uav_names: [ ] uav1: - type: "x500" + type: "robofly" spawn: x: 10.0 y: 15.0 diff --git a/tmux/mrs_one_drone/session.yml b/tmux/mrs_one_drone/session.yml index e248e51..cbb2cb2 100644 --- a/tmux/mrs_one_drone/session.yml +++ b/tmux/mrs_one_drone/session.yml @@ -5,7 +5,7 @@ socket_name: mrs attach: false tmux_options: -f /etc/ctu-mrs/tmux.conf # you can modify these -pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500 +pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=robofly startup_window: control windows: - roscore: diff --git a/tmux/standalone/custom_configs/simulator.yaml b/tmux/standalone/custom_configs/simulator.yaml index 8125c1b..0a04b03 100644 --- a/tmux/standalone/custom_configs/simulator.yaml +++ b/tmux/standalone/custom_configs/simulator.yaml @@ -1,3 +1,12 @@ frames: fcu: publish_tf: true + +uav1: + type: "a300" + spawn: + x: 10.0 + y: 15.0 + z: 0.0 + heading: 3.14 +