Add cf21B_500

Author: ratheron

drone_models/drones.py

@@ -3,4 +3,4 @@
 TODO: Add description.
 """
 
-available_drones: tuple[str] = ("cf2x_L250", "cf2x_P250", "cf2x_T350")
+available_drones: tuple[str] = ("cf2x_L250", "cf2x_P250", "cf2x_T350", "cf21B_500")

drone_models/so_rpy/params.toml

@@ -23,9 +23,9 @@ rpy_rates_coef = [-13.3, -16.33, 0.0]
 cmd_rpy_coef = [84.73, 119.3, 0.0]
 
 # TODO: Check if parameters are correct
-[cf2x_B500]
+[cf21B_500]
 acc_coef = 0.0
-cmd_f_coef = 1.0633
+cmd_f_coef = 0.98323027
 rpy_coef = [-99.94, -130.3, 0.0]
 rpy_rates_coef = [-13.3, -16.33, 0.0]
 cmd_rpy_coef = [84.73, 119.3, 0.0]

drone_models/so_rpy_rotor/params.toml

@@ -22,4 +22,13 @@ acc_coef = 0.1670
 cmd_f_coef = 0.5615
 rpy_coef = [-286.2, -286.2, -192.9]
 rpy_rates_coef = [-23.03, -23.03, -22.22]
-cmd_rpy_coef = [225.6, 225.6, 323.5]
+cmd_rpy_coef = [225.6, 225.6, 323.5]
+
+
+[cf21B_500]
+thrust_time_coef = 0.03573264
+acc_coef = 0.0
+cmd_f_coef = 0.98372945
+rpy_coef = [-160.5, -160.5, -109.3]
+rpy_rates_coef = [-10.74, -10.74, -13.69]
+cmd_rpy_coef = [115.2, 115.2, 154.6]

drone_models/so_rpy_rotor_drag/params.toml

@@ -31,7 +31,7 @@ drag_linear_coef = -0.0177
 drag_square_coef = 0.0010
 
 
-[cf2x_B500]
+[cf21B_500]
 thrust_time_coef = 0.08238289
 acc_coef = 0.0
 cmd_f_coef = 0.99509171