simulation_default_config.h

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/*******************************************************************************
 * \file simulation_default_config.h
 * 
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 *   
 * \brief Default configuration for the simulated vehicle
 *
 ******************************************************************************/


#ifndef SIMULATION_DEFAULT_CONFIG_H_
#define SIMULATION_DEFAULT_CONFIG_H_

#ifdef __cplusplus
extern "C" {
#endif


#include "simulation.h"


simulation_config_t simulation_default_config=
{
    .rotor_lpf           =  0.1f,                   
    .rotor_rpm_gain      =  4000.0f,                
    .rotor_rpm_offset    =  -1.0f,                  
    .rotor_cd            =  0.03f,                  
    .rotor_cl            =  1.0f,                   
    .rotor_diameter      =  0.14f,                  
    .rotor_foil_area     =  0.18f * 0.015f,         
    .rotor_pitch         =  0.15f,                  
    .total_mass          =  0.35f,                  
    .vehicle_drag        =  0.01f,                  
    .roll_pitch_momentum =  0.1f * 0.17f / 1.4142f, 
    .yaw_momentum        =  0.1f * 0.17f ,          
    .rotor_momentum      =  0.005f * 0.03f,         
    .rotor_arm_length    =  0.17f,                  
    .wind_x              =  0.0f,                   
    .wind_y              =  0.0f,                   
    //default home location (EFPL Esplanade)
    .home_coordinates[X]   = 46.51852236174565f,    
    .home_coordinates[Y]  = 6.566044801857777f,     
    .home_coordinates[Z]   = 400.0f,                
    .sim_gravity         =  9.8f                    
};

#ifdef __cplusplus
}
#endif

#endif // SIMULATION_DEFAULT_CONFIG_H_