Update so model params

Author: ratheron

drone_models/so_rpy/params.toml

@@ -1,28 +1,27 @@
-# TODO: Double-check yaw parameters. Currently induces weird behavior in sim
 [cf2x_L250]
 acc_coef = 0.0
-cmd_f_coef = 1.0633
-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_f_coef = 0.97605781
+rpy_coef = [-245.67, -245.67, -227.78]
+rpy_rates_coef = [-17.32, -17.32, -25.63]
+cmd_rpy_coef = [196.18, 196.18, 390.27]
+
 
-# TODO: Check if parameters are correct
 [cf2x_P250]
 acc_coef = 0.0
-cmd_f_coef = 1.0633
-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]
+cmd_f_coef = 0.98275823
+rpy_coef = [-319.14, -319.14, -284.28]
+rpy_rates_coef = [-20.85, -20.85, -38.43]
+cmd_rpy_coef = [263.30, 263.30, 502.58]
+
 
-# TODO: Check if parameters are correct
 [cf2x_T350]
 acc_coef = 0.0
-cmd_f_coef = 1.0633
-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]
+cmd_f_coef = 0.86214912
+rpy_coef = [-267.14, -267.14, -126.49]
+rpy_rates_coef = [-19.48, -19.48, -14.41]
+cmd_rpy_coef = [200.90, 200.90, 193.11]
+
 
-# TODO: Check if parameters are correct
 [cf21B_500]
 acc_coef = 0.0
 cmd_f_coef = 0.96836458

drone_models/so_rpy_rotor/params.toml

@@ -1,28 +1,28 @@
 [cf2x_L250]
 acc_coef = 0.0
-cmd_f_coef = 1.0591
-thrust_time_coef = 0.1108
-rpy_coef = [-257.2, -257.2, -225.3]
-rpy_rates_coef = [-20.2, -20.2, -28.61]
-cmd_rpy_coef = [207.1, 207.1, 392.7]
+cmd_f_coef = 0.97732585
+thrust_time_coef = 0.0858607
+rpy_coef = [-245.67, -245.67, -227.78]
+rpy_rates_coef = [-17.32, -17.32, -25.63]
+cmd_rpy_coef = [196.18, 196.18, 390.27]
+
 
-# TODO: Check if parameters are correct
 [cf2x_P250]
-acc_coef = 0.1670
-cmd_f_coef = 0.5615
-thrust_time_coef = 0.0654
-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]
+acc_coef = 0.0
+cmd_f_coef = 0.98323006
+thrust_time_coef = 0.0578952
+rpy_coef = [-319.14, -319.14, -284.28]
+rpy_rates_coef = [-20.85, -20.85, -38.43]
+cmd_rpy_coef = [263.30, 263.30, 502.58]
+
 
-# TODO: Check if parameters are correct
 [cf2x_T350]
-acc_coef = 0.1670
-cmd_f_coef = 0.5615
-thrust_time_coef = 0.0654
-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]
+acc_coef = 0.0
+cmd_f_coef = 0.86259295 
+thrust_time_coef = 0.05062676
+rpy_coef = [-267.14, -267.14, -126.49]
+rpy_rates_coef = [-19.48, -19.48, -14.41]
+cmd_rpy_coef = [200.90, 200.90, 193.11]
 
 
 [cf21B_500]

drone_models/so_rpy_rotor_drag/params.toml

@@ -1,43 +1,43 @@
 [cf2x_L250]
 acc_coef = 0.0
-cmd_f_coef = 1.0627
-thrust_time_coef = 0.1891
+cmd_f_coef = 0.98325003    
+thrust_time_coef = 0.12116392
 drag_matrix = [
-    [-0.0177, 0.0,     0.0     ],
-    [0.0,     -0.0177, 0.0     ],
-    [0.0,     0.0,     -0.0177 ]
+    [-0.01471782, 0.0,         0.0         ],
+    [0.0,         -0.01471782, 0.0         ],
+    [0.0,         0.0,         -0.01277641 ]
 ]
-rpy_coef = [-257.2, -257.2, 225.3]
-rpy_rates_coef = [-20.2, -20.2, -28.61]
-cmd_rpy_coef = [207.1, 207.1, 392.7]
+rpy_coef = [-245.67, -245.67, -227.78]
+rpy_rates_coef = [-17.32, -17.32, -25.63]
+cmd_rpy_coef = [196.18, 196.18, 390.27]
+
 
-# TODO: Check if parameters are correct
 [cf2x_P250]
 acc_coef = 0.0
-cmd_f_coef = 1.0627
-thrust_time_coef = 0.1891
+cmd_f_coef = 0.99085062
+thrust_time_coef = 0.11554009
 drag_matrix = [
-    [-0.0177, 0.0,     0.0     ],
-    [0.0,     -0.0177, 0.0     ],
-    [0.0,     0.0,     -0.0177 ]
+    [-0.01351483, 0.0,         0.0         ],
+    [0.0,         -0.01351483, 0.0         ],
+    [0.0,         0.0,         -0.01677452 ]
 ]
-rpy_coef = [-257.2, -257.2, -225.3]
-rpy_rates_coef = [-20.2, -20.2, -28.61]
-cmd_rpy_coef = [207.1, 207.1, 392.7]
+rpy_coef = [-319.14, -319.14, -284.28]
+rpy_rates_coef = [-20.85, -20.85, -38.43]
+cmd_rpy_coef = [263.30, 263.30, 502.58]
+
 
-# TODO: Check if parameters are correct
 [cf2x_T350]
 acc_coef = 0.0
-cmd_f_coef = 1.0627
-thrust_time_coef = 0.1891
+cmd_f_coef = 0.87242516    
+thrust_time_coef = 0.13701907
 drag_matrix = [
-    [-0.0177, 0.0,     0.0     ],
-    [0.0,     -0.0177, 0.0     ],
-    [0.0,     0.0,     -0.0177 ]
+    [-0.01556697, 0.0,         0.0         ],
+    [0.0,         -0.01556697, 0.0         ],
+    [0.0,         0.0,         -0.02191672 ]
 ]
-rpy_coef = [-257.2, -257.2, -225.3]
-rpy_rates_coef = [-20.2, -20.2, -28.61]
-cmd_rpy_coef = [207.1, 207.1, 392.7]
+rpy_coef = [-267.14, -267.14, -126.49]
+rpy_rates_coef = [-19.48, -19.48, -14.41]
+cmd_rpy_coef = [200.90, 200.90, 193.11]
 
 
 [cf21B_500]