The vehicle simulation model structure definition. More...

#include <simulation.h>

Collaboration diagram for simulation_config_t:

Public Attributes
float	rotor_lpf
	The low-pass filtered response of the rotors to simulate inertia and lag.

float	rotor_rpm_gain
	The gain linking the command to rpm.

float	rotor_rpm_offset
	The offset to convert servo commands to rpm.

float	rotor_cd
	The rotor drag coefficient.

float	rotor_cl
	The rotor lift coefficient.

float	rotor_diameter
	The mean rotor diameter in m.

float	rotor_foil_area
	The rotor foil area.

float	rotor_pitch
	The rotor pitch.

float	total_mass
	The vehicle mass in kg.

float	vehicle_drag
	The coefficient of drag of the whole vehicle.

float	roll_pitch_momentum
	The roll and pitch angular momentum of the vehicle.

float	yaw_momentum
	The yaw angular momentum constants (assumed to be independent)

float	rotor_momentum
	The angular momentum of the rotor (for rotor inertia)

float	rotor_arm_length
	The distance between CoG and motor (in meter)

float	wind_x
	The x component of wind in global frame in m/s.

float	wind_y
	The y component of wind in global frame in m/s.

float	home_coordinates [3]
	The home coordinates in global frame (GPS, latitude, longitude, altitude in degrees and meters)

float	sim_gravity
	The value of gravity for the simulated forces.

Detailed Description

The vehicle simulation model structure definition.

The documentation for this struct was generated from the following file:

Public Attributes