Update parameters

Author: ratheron

drone_controllers/mellinger/params.toml

@@ -2,15 +2,15 @@
 [cf2x_L250.core]
 mass = 0.033
 mass_thrust = 132000
-thrust_min = 0.02
-thrust_max = 0.1125
-pwm_min = 20000.0
-pwm_max = 65535.0
+pwm_min = 7000
+pwm_max = 65535
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 torque_pwm_max = [32000.0, 32000.0, 32000.0]
 L = 0.03253
-rpm2thrust = [0.0, 0.0, 3.16e-10] # TODO
-rpm2torque = [0.0, 0.0, 7.94e-12] # TODO
-thrust2torque = 0.002513 # TODO
+rpm2thrust = [0.0, -5.382196214637237e-7, 2.4582929831265485e-10]
+rpm2torque = [0.0, 1.410454111996297e-9, 1.4592584373980652e-12] 
+thrust2torque = 0.007350862856566459
 mixing_matrix = [
     [-1.0, -1.0,  1.0,  1.0],
     [-1.0,  1.0,  1.0, -1.0],
@@ -35,15 +35,15 @@ int_err_max = [1.0, 1.0, 1500.0]
 [cf2x_P250.core]
 mass = 0.033
 mass_thrust = 132000
-thrust_min = 0.02
-thrust_max = 0.1125
-pwm_min = 20000.0
-pwm_max = 65535.0
+pwm_min = 7000
+pwm_max = 65535
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 torque_pwm_max = [32000.0, 32000.0, 32000.0]
 L = 0.03253
-rpm2thrust = [0.0, 0.0, 5.792654323957372e-10] # TODO
-rpm2torque = [0.0, 0.0, 7.94e-12] # TODO
-thrust2torque = 0.001371 # TODO
+rpm2thrust = [0.0, -3.6200226530383495e-7, 1.6060924304100328e-10] # Index is order
+rpm2torque = [0.0, -2.2665265829562245e-9, 1.1149485566919186e-12] # Index is order
+thrust2torque = 0.0069928948992470565
 mixing_matrix = [
     [-1.0, -1.0,  1.0,  1.0],
     [-1.0,  1.0,  1.0, -1.0],
@@ -68,15 +68,15 @@ int_err_max = [1.0, 1.0, 1500.0]
 [cf2x_T350.core]
 mass = 0.03454 # TODO
 mass_thrust = 132000
-thrust_min = 0.03
-thrust_max = 0.1625
-pwm_min = 20000.0
-pwm_max = 65535.0
+pwm_min = 7000
+pwm_max = 65535
+thrust_min = 0.01922636758983749  # in N per motor
+thrust_max = 0.18  # in N per motor
 torque_pwm_max = [32000.0, 32000.0, 32000.0]
 L = 0.03253
-rpm2thrust = [0.0, 0.0, 5.792654323957372e-10] # TODO
-rpm2torque = [0.0, 0.0, 7.94e-12] # TODO
-thrust2torque = 0.001371 # TODO
+rpm2thrust = [0.0, -7.167227176573658e-7, 2.9401303690194613e-10] # Index is order
+rpm2torque = [0.0, 5.815894847811497e-10, 1.331813874166509e-12] # Index is order
+thrust2torque = 0.005355990836477486
 mixing_matrix = [
     [-1.0, -1.0,  1.0,  1.0],
     [-1.0,  1.0,  1.0, -1.0],