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Code Issues Releases Activity

Make lift model dependent on airspeed.

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This commit is contained in:
James Cotton 2012-06-08 13:58:18 -05:00
parent ac9adb0c94
commit 6ca34d3d0c
1 changed files with 2 additions and 1 deletions
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3
flight/Modules/Sensors/simulated/sensors.c
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@ -543,6 +543,7 @@ static void simulateModelAirplane()
static float baro_offset = 0.0f; static float baro_offset = 0.0f;
float Rbe[3][3]; 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 ACTUATOR_ALPHA = 0.8;
const float MAX_THRUST = 9.81 * 2; const float MAX_THRUST = 9.81 * 2;
const float K_FRICTION = 0.2; const float K_FRICTION = 0.2;
@ -657,7 +658,7 @@ static void simulateModelAirplane()
double forces[3]; // X, Y, Z 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[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[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 (?) // 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]; ned_accel[0] = forces[0] * Rbe[0][0] + forces[1] * Rbe[1][0] - forces[2] * Rbe[2][0];