conf_sim_model.h

/*
 * conf_sim_model.h
 *
 * Created: 06/08/2013 20:26:35
 *  Author: sfx
 */ 


#ifndef CONF_SIM_MODEL_H_
#define CONF_SIM_MODEL_H_
#include "simulation.h"


// default home location (EFPL Esplanade)
#define HOME_LONGITUDE 6.566044801857777
#define HOME_LATITUDE 46.51852236174565
#define HOME_ALTITUDE 398.0

#define AIR_DENSITY 1.2

static simulation_model_t vehicle_model_parameters= {
    .rotor_lpf          =  0.95,        // low pass filter constant to express rotor inertia/lag. 0.0=no inertia, 1.0=infinite inertia
    .rotor_rpm_gain     =  3500.0, 
    .rotor_rpm_offset   =  -1.0,        // offset to convert servo commands to rpm (servo command that corresponds to zero rpm)
    .vehicle_drag       =  0.1,         // vehicle drag coefficient * vehicle area
    .rotor_cd           =  0.03,        // coefficient of drag of rotor blade
    .rotor_cl           =  0.9,         // coefficient of lift of rotor blade
    .rotor_diameter     =  0.14,        // mean "effective" rotor diameter
    .rotor_foil_area    =  0.18 * 0.015,  // area of the propeller blades in m^2
    .rotor_pitch        =  0.15,        // rotor pitch in m/revolution (7x6" roughly 0.15m)
    .total_mass         =  0.4,         // vehicle mass in kg
    .roll_pitch_momentum=  0.05 * 0.17 / 1.4142,    // angular momentum constants (assumed to be independent) (in kg/m^2)
    .yaw_momentum       =  0.1 * 0.17 ,  // approximate motor arm mass * rotor arm length
    .rotor_momentum     =  0.003*0.03,  // rotor inertia  (5g off center mass * rotor radius)
    .rotor_arm_length   =  0.17         // distance between CoG and motor (in meter)
    
};




#endif /* CONF_SIM_MODEL_H_ */