dynamic_model_quad_diag_conf_t Struct Reference

Configuration for quad dynamic model. More...

#include <dynamic_model_quad_diag.hpp>

List of all members.

Public Attributes
float	rotor_lpf
	Low-pass filtered response of the rotors to simulate inertia and lag.
float	rotor_rpm_gain
	Gain linking the command to rpm.
float	rotor_rpm_offset
	Offset to convert servo commands to rpm.
float	rotor_cd
	Rotor drag coefficient.
float	rotor_cl
	Rotor lift coefficient.
float	rotor_diameter
	Mean rotor diameter in m.
float	rotor_foil_area
	Rotor foil area.
float	rotor_pitch
	Rotor pitch.
float	total_mass
	Vehicle mass in kg.
float	vehicle_drag
	Coefficient of drag of the whole vehicle.
float	roll_pitch_momentum
	Roll and pitch angular momentum of the vehicle.
float	yaw_momentum
	Yaw angular momentum constants (assumed to be independent)
float	rotor_momentum
	Angular momentum of the rotor (for rotor inertia)
float	rotor_arm_length
	Distance between CoG and motor (in meter)
float	wind_x
	X component of wind in global frame in m/s.
float	wind_y
	Y component of wind in global frame in m/s.
float	gravity
	Gravity value used for the simulated forces.
float	air_density
	Air density in kg/m3.
std::array< float, 4 >	motor_dir

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Detailed Description

Configuration for quad dynamic model.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/simulation/dynamic_model_quad_diag.hpp