Clarify yaw dynamics parameters in SYS_ID_PARAMS

amacati · web-flow · commit 307ddbfe4d57 · 2025-10-09T09:23:48.000+02:00
diff --git a/crazyflow/sim/physics.py b/crazyflow/sim/physics.py
@@ -15,6 +15,8 @@
     "acc": np.array([20.907574256269616, 3.653687545690674]),
     "roll_acc": np.array([-130.3, -16.33, 119.3]),
     "pitch_acc": np.array([-99.94, -13.3, 84.73]),
+    # Yaw dynamics are not identified, parameters were chosen to stabilize yaw dynamics. See
+    # https://github.com/utiasDSL/crazyflow/pull/41
     "yaw_acc": np.array([-60.0, -10.0, 140.0]),
 }
 

Original file line number	Diff line number	Diff line change
`@@ -15,6 +15,8 @@`
`15`	`15`	`"acc": np.array([20.907574256269616, 3.653687545690674]),`
`16`	`16`	`"roll_acc": np.array([-130.3, -16.33, 119.3]),`
`17`	`17`	`"pitch_acc": np.array([-99.94, -13.3, 84.73]),`
	`18`	`+ # Yaw dynamics are not identified, parameters were chosen to stabilize yaw dynamics. See`
	`19`	`+ # https://github.com/utiasDSL/crazyflow/pull/41`
`18`	`20`	`"yaw_acc": np.array([-60.0, -10.0, 140.0]),`
`19`	`21`	`}`
`20`	`22`