From 6ca34d3d0cce0557bd36cb09e03b79ef2469bb89 Mon Sep 17 00:00:00 2001 From: James Cotton <peabody124@gmail.com> Date: Fri, 8 Jun 2012 13:58:18 -0500 Subject: [PATCH] Make lift model dependent on airspeed. --- flight/Modules/Sensors/simulated/sensors.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/flight/Modules/Sensors/simulated/sensors.c b/flight/Modules/Sensors/simulated/sensors.c index cd8aa42ff..933e95279 100644 --- a/flight/Modules/Sensors/simulated/sensors.c +++ b/flight/Modules/Sensors/simulated/sensors.c @@ -543,6 +543,7 @@ static void simulateModelAirplane() static float baro_offset = 0.0f; float Rbe[3][3]; + const float LIFT_SPEED = 8; // (m/s) where achieve lift for zero pitch const float ACTUATOR_ALPHA = 0.8; const float MAX_THRUST = 9.81 * 2; const float K_FRICTION = 0.2; @@ -657,7 +658,7 @@ static void simulateModelAirplane() double forces[3]; // X, Y, Z forces[0] = thrust - pitch * PITCH_THRUST_COUPLING - forwardAirspeed * K_FRICTION; // Friction is applied in all directions in NED forces[1] = 0 - sidewaysAirspeed * K_FRICTION * 100; // No side slip - forces[2] = GRAV + downwardAirspeed * K_FRICTION * 100; // Stupidly simple, always have gravity lift when straight and level + forces[2] = GRAV * (forwardAirspeed - LIFT_SPEED) + downwardAirspeed * K_FRICTION * 100; // Stupidly simple, always have gravity lift when straight and level // Negate force[2] as NED defines down as possitive, aircraft convention is Z up is positive (?) ned_accel[0] = forces[0] * Rbe[0][0] + forces[1] * Rbe[1][0] - forces[2] * Rbe[2][0];