diff --git a/configs/ap_plane.yaml b/configs/ap_plane.yaml index 099c73a..bd24dd4 100644 --- a/configs/ap_plane.yaml +++ b/configs/ap_plane.yaml @@ -35,10 +35,14 @@ environment: windNed: [0.0, 0.0, 0.0] vehicle: - mass: 5.0 # kg + mass: 6.0 # kg inertia: [0.3, 0, 0, 0, 0.4, 0, 0, 0, 0.6] # kg*m^2 + lonStaticFriction: 0.3 + lonKineticFriction: 0.2 + latStaticFriction: 0.8 + latKineticFriction: 0.7 actuators: airframe: @@ -74,177 +78,77 @@ actuators: bldcAnalyticModel2: maxVelocity: 3500.0 # rad/s - maxThrust: 120.0 + maxThrust: 80.0 maxTorque: 0.7 - # unitless_setpoint, force (N), torque (Nm), PWM, RPM - bldcTableModel40x5: [0.000, 0.0, 0.0, 1000, 0, - 0.025, 0.1, 0.0, 1025, 375, - 0.050, 0.3, 0.0, 1050, 750, - 0.075, 0.7, 0.0, 1075, 1125, - 0.100, 1.2, 0.1, 1100, 1500, - 0.125, 1.9, 0.1, 1125, 1875, - 0.150, 2.8, 0.1, 1150, 2250, - 0.175, 3.8, 0.1, 1175, 2625, - 0.200, 4.9, 0.1, 1200, 3000, - 0.225, 6.2, 0.1, 1225, 3375, - 0.250, 7.7, 0.2, 1250, 3750, - 0.275, 9.3, 0.2, 1275, 4125, - 0.300, 11.1, 0.2, 1300, 4500, - 0.325, 13.0, 0.2, 1325, 4875, - 0.350, 15.1, 0.2, 1350, 5250, - 0.375, 17.3, 0.2, 1375, 5625, - 0.400, 19.7, 0.3, 1400, 6000, - 0.425, 22.3, 0.3, 1425, 6375, - 0.450, 25.0, 0.3, 1450, 6750, - 0.475, 27.8, 0.3, 1475, 7125, - 0.500, 30.8, 0.3, 1500, 7500, - 0.525, 34.0, 0.3, 1525, 7875, - 0.550, 37.3, 0.4, 1550, 8250, - 0.575, 40.8, 0.4, 1575, 8625, - 0.600, 44.4, 0.4, 1600, 9000, - 0.625, 48.2, 0.4, 1625, 9375, - 0.650, 52.1, 0.4, 1650, 9750, - 0.675, 56.2, 0.4, 1675, 10125, - 0.700, 60.4, 0.5, 1700, 10500, - 0.725, 64.8, 0.5, 1725, 10875, - 0.750, 69.4, 0.5, 1750, 11250, - 0.775, 74.1, 0.5, 1775, 11625, - 0.800, 79.0, 0.5, 1800, 12000, - 0.825, 84.0, 0.5, 1825, 12375, - 0.850, 89.1, 0.6, 1850, 12750, - 0.875, 94.4, 0.6, 1875, 13125, - 0.900, 99.9, 0.6, 1900, 13500, - 0.925, 105.6, 0.6, 1925, 13875, - 0.950, 111.3, 0.6, 1950, 14250, - 1.000, 123.4, 0.7, 2000, 15000] - - - CmxAileron: [0.051179437837838, 0.046034623423424, 0.041429333333333, 0.037423022222222, 0.03287545945946, 0.029460687087087, 0.025893938738739, 0.021668609009009, 0.016624724324324, 0.011692566966967, 0.011692566966967, 0.016624724324324, 0.021668609009009, 0.025893938738739, 0.029460687087087, 0.03287545945946, 0.037423022222222, 0.041429333333333, 0.046034623423424, 0.051179437837838, - 0.052290420420421, 0.047495687687688, 0.043795408408408, 0.039513075075075, 0.035203369369369, 0.031619396396396, 0.027709258858859, 0.022635685585586, 0.017813596096096, 0.011426172072072, 0.011426172072072, 0.017813596096096, 0.022635685585586, 0.027709258858859, 0.031619396396396, 0.035203369369369, 0.039513075075075, 0.043795408408408, 0.047495687687688, 0.052290420420421, - 0.052247738405072, 0.047800025358692, 0.043072856856857, 0.039375451451452, 0.035313177177177, 0.0325402335669, 0.028032932932933, 0.023038581247915, 0.017477374708041, 0.012142790123457, 0.012142790123457, 0.017477374708041, 0.023038581247915, 0.028032932932933, 0.0325402335669, 0.035313177177177, 0.039375451451452, 0.043072856856857, 0.047800025358692, 0.052247738405072, - 0.052231835585586, 0.047479774024024, 0.044197557807808, 0.039787305555556, 0.035611631381381, 0.031757238738739, 0.027886326576577, 0.023065554054054, 0.017766942942943, 0.011815688438439, 0.011815688438439, 0.017766942942943, 0.023065554054054, 0.027886326576577, 0.031757238738739, 0.035611631381381, 0.039787305555556, 0.044197557807808, 0.047479774024024, 0.052231835585586, - 0.052701977177177, 0.047798279399399, 0.04404894942943, 0.039998307267267, 0.035559612252252, 0.032021747987988, 0.028218248648649, 0.022873437597598, 0.0181430596997, 0.011818216456457, 0.011818216456457, 0.0181430596997, 0.022873437597598, 0.028218248648649, 0.032021747987988, 0.035559612252252, 0.039998307267267, 0.04404894942943, 0.047798279399399, 0.052701977177177, - 0.052212622622623, 0.048192265598932, 0.043957143810477, 0.039702182182182, 0.035389135802469, 0.031570404738071, 0.02781734034034, 0.023127637637638, 0.017893199532866, 0.012360301968635, 0.012360301968635, 0.017893199532866, 0.023127637637638, 0.02781734034034, 0.031570404738071, 0.035389135802469, 0.039702182182182, 0.043957143810477, 0.048192265598932, 0.052212622622623, - 0.052236673408102, 0.04831319237605, 0.044004748421891, 0.039625882208739, 0.035409918489919, 0.03175273886131, 0.028364103695532, 0.023558297971441, 0.018059902187902, 0.012712058098915, 0.012712058098915, 0.018059902187902, 0.023558297971441, 0.028364103695532, 0.03175273886131, 0.035409918489919, 0.039625882208739, 0.044004748421891, 0.04831319237605, 0.052236673408102, - 0.052666972597598, 0.048640882132132, 0.044249414414414, 0.039704268018018, 0.036147646396396, 0.032033438438439, 0.02807664039039, 0.023505212087087, 0.01759400731982, 0.013140747747748, 0.013140747747748, 0.01759400731982, 0.023505212087087, 0.02807664039039, 0.032033438438439, 0.036147646396396, 0.039704268018018, 0.044249414414414, 0.048640882132132, 0.052666972597598] - - CmyElevator: [0.032755115915916, 0.028016264264264, 0.025246763963964, 0.01901452972973, 0.015892378378378, 0.012089888288288, 0.008110313513514, 0.007339700900901, 0.00135464984985, 0.001966908108108, 0.007555739339339, 0.007408348348348, 0.015103936336336, 0.018589613213213, 0.018531517117117, 0.025743298498499, 0.029858863663664, 0.031415596396396, 0.038637314114114, 0.039563135135135, - 0.032519875675676, 0.028409607207207, 0.023849377777778, 0.019202447447448, 0.01514139039039, 0.011331765765766, 0.007506831831832, 0.007693660660661, 0.001041714714715, 0.001546123123123, 0.008367051051051, 0.007399648648649, 0.016527357357357, 0.019982987987988, 0.019018498498499, 0.026975591591592, 0.03092703003003, 0.032654600600601, 0.038978495495496, 0.041968054054054, - 0.032343189856523, 0.028286834834835, 0.025120890223557, 0.019005249249249, 0.014644480480481, 0.012657813813814, 0.007208731398065, 0.006798637303971, 0.000207115115115, 0.002887845178512, 0.008161159826493, 0.007895822489156, 0.015539187187187, 0.020364639305973, 0.01900543610277, 0.026168878211545, 0.030876537871205, 0.032404947614281, 0.038751915915916, 0.0408322002002, - 0.031878066066066, 0.028381822072072, 0.024794701951952, 0.018438450450451, 0.014902437687688, 0.011876391141141, 0.007762267267267, 0.006653906156156, 0.000892351351351, 0.001829623123123, 0.007608578828829, 0.007724797297297, 0.015518816816817, 0.019589544294294, 0.018605976726727, 0.025924345345345, 0.031300906906907, 0.032835689189189, 0.039457768768769, 0.041836950450451, - 0.030518955915916, 0.027373763843844, 0.024274207327327, 0.018098935255255, 0.015392555915916, 0.012007866426427, 0.0075489796997, 0.006497046486486, 0.001211103903904, 0.001229443843844, 0.00760147987988, 0.006328514114114, 0.015782433633634, 0.019739622822823, 0.019603180780781, 0.026787099099099, 0.03079126966967, 0.032412607807808, 0.040128677477478, 0.042298858858859, - 0.031147072072072, 0.028066039039039, 0.024008182182182, 0.018197977977978, 0.013797737737738, 0.011506803470137, 0.008151047714381, 0.005121478144811, 0.001130797464131, 0.001724467801134, 0.007593616950284, 0.007855645645646, 0.016358098098098, 0.02035016016016, 0.018935605605606, 0.027334601267935, 0.030565271938605, 0.033464871538205, 0.040292379045712, 0.041104918251585, - 0.031777405405406, 0.028263087577373, 0.025586632346632, 0.017474020959735, 0.014428782251639, 0.01217632162775, 0.008742303119446, 0.007983658760802, 0.001634474474474, 0.001847003738432, 0.007055576392719, 0.006259339339339, 0.01547525402954, 0.019172453269596, 0.018533600539315, 0.024870110927254, 0.030871292517007, 0.032307480541766, 0.038604775387633, 0.040716744499602, - 0.033207394894895, 0.028997698948949, 0.024283260135135, 0.018656064189189, 0.015759797297297, 0.012469694069069, 0.008559339339339, 0.007056884384384, 0.002122909159159, 0.001879157282282, 0.006691987612613, 0.006251052927928, 0.014016779279279, 0.018559667792793, 0.017867550675676, 0.026361075450451, 0.030737338588589, 0.031977732732733, 0.037654806681682, 0.041762509384384] - - - CmzRudder: [0.01937659778979, 0.01765742781982, 0.014630065657658, 0.014003380972973, 0.012452586978979, 0.009320472744745, 0.008137454846847, 0.005519602114114, 0.003624372084084, 0.001696505297297, 0.001616154306306, 0.003026687615616, 0.005671509957958, 0.008128605573574, 0.009886186714715, 0.011474644012012, 0.013384736744745, 0.015150914522523, 0.016093987195195, 0.017483404612613, - 0.019537224594595, 0.018548116186186, 0.015958248318318, 0.01377582009009, 0.012599450720721, 0.010650828798799, 0.007930307777778, 0.005747981651652, 0.003908842912913, 0.002627223393393, 0.001809310720721, 0.003844723153153, 0.005795650780781, 0.008105021051051, 0.009506131561562, 0.011535448078078, 0.012882869099099, 0.013963388918919, 0.015545505135135, 0.016672328858859, - 0.019868997237237, 0.01801362986987, 0.015587529102436, 0.013805334908242, 0.012484662502503, 0.011077185158492, 0.008319855428762, 0.006100344451118, 0.003214567874541, 0.001844260767434, 0.002043667427427, 0.004145578805472, 0.005859641401401, 0.007577185345345, 0.009496950977644, 0.011067823049716, 0.014373592018685, 0.013928592485819, 0.016081131558225, 0.01727854363697, - 0.020125516066066, 0.017695817117117, 0.015314799099099, 0.013905293843844, 0.012460492042042, 0.010670256306306, 0.007864971771772, 0.005729531306306, 0.003746144144144, 0.002068317867868, 0.002272057132132, 0.003301324774775, 0.00607686966967, 0.007519765540541, 0.008603945645646, 0.011517643093093, 0.012837853303303, 0.013829266966967, 0.015880528228228, 0.016567254954955, - 0.019073397141141, 0.018463830774775, 0.015397390894895, 0.014343057201201, 0.012237430774775, 0.009701717141141, 0.007199489153153, 0.005819756780781, 0.003385409201201, 0.001764416528529, 0.002561759423423, 0.003908278486486, 0.005959147723724, 0.00795739445045, 0.009062808504505, 0.011366945921922, 0.012260547843844, 0.013687818954955, 0.015706622078078, 0.017241452588589, - 0.019364391925259, 0.017759014214214, 0.015707176376376, 0.013900346880214, 0.012146576109443, 0.011205416616617, 0.008320935468802, 0.006447338538539, 0.003162589122456, 0.001537703803804, 0.002312577544211, 0.003727244778111, 0.006226249716383, 0.007689371504838, 0.009408663463463, 0.011063917717718, 0.012828068535202, 0.01430672952953, 0.014012209676343, 0.016570845311979, - 0.019368414512472, 0.016479341766256, 0.014676012232641, 0.013367622945394, 0.011710951253294, 0.009667799448428, 0.007204859447202, 0.004744150983637, 0.00261976880554, 0.001767626867684, 0.002408357786358, 0.004132714371514, 0.005901791260650, 0.008450892222835, 0.009212659949746, 0.010578874082246, 0.012845882233254, 0.013936924949439, 0.015521104149047, 0.017683986786787, - 0.018510478866366, 0.017447134834835, 0.015041735810811, 0.013586956156156, 0.011841838851351, 0.0094344371997, 0.006867200713213, 0.005209793243243, 0.002891949211712, 0.001367009459459, 0.002468957526276, 0.00364054009009, 0.005637380367868, 0.008093598648649, 0.010039248235736, 0.010941240540541, 0.013202337950451, 0.014551187237237, 0.015870725337838, 0.017846034271772] - # 20 18 16 14 12 10 8 6 4 2 -2 -4 -6 -8 -10 -12 -14 -16 -18 -20 - ## 5. Fixed Wing Aerodynamics -fixed_wing_aerodynamics: - # The tables presented below showcase the coefficients of polynomial equations - # that describe the aero moments acting on an aircraft - CmxPolynomial: [5, -1.662e-12, 2.91e-11, 7.098e-09, -1.135e-07, -1.056e-05, 0.0002365, 0.0006268, - 10, -1.717e-12, 4.716e-11, 7.282e-09, -1.653e-07, -1.061e-05, 0.0002692, 0.0006576, - 15, -5.555e-13, 3.068e-11, 3.55e-09, -1.204e-07, -7.592e-06, 0.0002529, 0.0006291, - 20, -7.676e-13, 3.747e-11, 4.01e-09, -1.262e-07, -7.986e-06, 0.0002468, 0.0006565, - 25, -1.322e-12, 3.403e-11, 6.268e-09, -1.473e-07, -1.017e-05, 0.0002767, 0.0006903, - 30, -2.627e-12, 7.618e-11, 1.013e-08, -2.28e-07, -1.288e-05, 0.0003032, 0.0006878, - 35, -1.812e-12, 4.396e-11, 6.996e-09, -1.424e-07, -9.477e-06, 0.0002574, 0.0006122, - 40, -1.812e-12, 4.396e-11, 6.996e-09, -1.424e-07, -9.477e-06, 0.0002574, 0.0006122] - CmyPolynomial: [5, -9.16e-12, 1.21e-09, 4.398e-08, -4.096e-06, -6.783e-05, 0.003508, 0.005005, - 10, -1.259e-11, 1.247e-09, 5.62e-08, -4.201e-06, -8.145e-05, 0.00351, 0.005465, - 15, -1.363e-11, 1.296e-09, 5.943e-08, -4.301e-06, -8.453e-05, 0.003545, 0.005548, - 20, -1.407e-11, 1.272e-09, 6.032e-08, -4.258e-06, -8.432e-05, 0.003527, 0.005536, - 25, -1.403e-11, 1.289e-09, 6.148e-08, -4.307e-06, -8.667e-05, 0.003548, 0.005597, - 30, -1.376e-11, 1.271e-09, 6.065e-08, -4.275e-06, -8.583e-05, 0.003528, 0.005628, - 35, -1.487e-11, 1.299e-09, 6.396e-08, -4.35e-06, -8.856e-05, 0.003574, 0.005662, - 40, -1.487e-11, 1.299e-09, 6.396e-08, -4.35e-06, -8.856e-05, 0.003574, 0.005662] - CmzPolynomial: [5, -6.239e-13, 1.037e-11, 2.205e-09, -3.321e-08, 2.764e-07, 8.329e-05, 0.0001065, - 10, -2.133e-13, -2.416e-12, 1.094e-09, -6.643e-09, 1.623e-06, 8.003e-05, 0.00009477, - 15, -5.287e-13, -1.329e-11, 1.2e-09, 1.604e-08, 2.218e-06, 7.324e-05, 0.00008681, - 20, 2.17e-14, -1.435e-11, -3.134e-10, 4.362e-08, 3.192e-06, 3.617e-05, 0.00007144, - 25, 1.089e-13, -1.188e-11, -1.605e-10, 2.366e-08, 2.971e-06, 5.036e-05, 0.00006789, - 30, -3.77e-13, 8.086e-12, 1.382e-09, -2.784e-08, 1.89e-06, 8.077e-05, 0.00006182, - 35, -4.844e-13, -1.491e-11, 1.247e-09, 2.409e-08, 2.089e-06, 5.731e-05, 0.00008668, - 40, -4.844e-13, -1.491e-11, 1.247e-09, 2.409e-08, 2.089e-06, 5.731e-05, 0.00008668] - - # Let's introduce 3 components of the Aerodynamics force: - # 1. Lift is the force component perpendicular to the direction of relative motion - # 2. Drag is the force component parallel to the direction of relative motion - # 3. Side force refers to a force component that acts perpendicular to the lift and drag forces - - # Lift Force. First column is airspeed. Others columns represent the related polynomial coeficients - CLPolynomial: [5, -2.758e-11, 8.139e-09, 1.438e-07, -3.095e-05, -0.0003512, 0.05557, 0.4132, - 10, -3.934e-11, 8.204e-09, 1.935e-07, -3.075e-05, -0.0004209, 0.0552, 0.4438, - 15, -5.464e-11, 7.747e-09, 2.369e-07, -2.918e-05, -0.0004564, 0.05447, 0.4545, - 20, -5.087e-11, 7.803e-09, 2.267e-07, -2.926e-05, -0.0004493, 0.05435, 0.4525, - 25, -5.489e-11, 7.949e-09, 2.428e-07, -2.975e-05, -0.0004656, 0.05472, 0.4578, - 30, -4.749e-11, 7.778e-09, 2.219e-07, -2.926e-05, -0.0004567, 0.05433, 0.4599, - 35, -5.911e-11, 7.879e-09, 2.574e-07, -2.961e-05, -0.0004838, 0.05458, 0.4637, - 40, -5.911e-11, 7.879e-09, 2.574e-07, -2.961e-05, -0.0004838, 0.05458, 0.4637] - - # Drag Force. First column is airspeed. Others columns represent the related polynomial coeficients - CDPolynomial: [5, -1.064e-07, -4.398e-07, 0.0007783, 0.003057, 0.0852, - 10, -1.006e-07, -4.922e-07, 0.0007733, 0.003133, 0.07989, - 15, -9.475e-08, -5.335e-07, 0.0007758, 0.003196, 0.07643, - 20, -9.277e-08, -4.929e-07, 0.0007704, 0.003136, 0.076, - 25, -9.419e-08, -4.522e-07, 0.000773, 0.003132, 0.07486, - 30, -9.502e-08, -5.321e-07, 0.0007726, 0.003174, 0.07427, - 35, -9.697e-08, -5.084e-07, 0.0007757, 0.003149, 0.07311, - 40, -9.697e-08, -5.084e-07, 0.0007757, 0.003149, 0.07311] - - # Side Force. First column is airspeed. Others columns represent the related polynomial coeficients - CSPolynomial: [5, 7.536e-13, -1.905e-10, -1.447e-09, 5.434e-07, 1.741e-06, -0.0005757, -0.00398, - 10, 2.453e-12, -7.037e-12, -9.832e-09, 6.71e-08, 1.017e-05, -0.0003704, -0.004259, - 15, 1.25e-12, -1.644e-10, -7.146e-09, 4.808e-07, 8.825e-06, -0.0005611, -0.004934, - 20, -5.28e-12, -1.195e-10, 1.014e-08, 3.703e-07, -7.521e-07, -0.0005489, -0.004176, - 25, -1.722e-12, -9.755e-11, 2.461e-09, 2.845e-07, 3.041e-06, -0.0004842, -0.004495, - 30, -3.421e-12, -1.178e-10, 6.694e-09, 3.385e-07, -4.731e-07, -0.0005325, -0.004105, - 35, -4.054e-12, -1.896e-11, 6.236e-09, 9.765e-08, 2.183e-06, -0.0004129, -0.005102, - 40, -4.054e-12, -1.896e-11, 6.236e-09, 9.765e-08, 2.183e-06, -0.0004129, -0.005102] - CS_rudder_table: [-0.034155112612613, -0.031797267567568, -0.02947708018018, -0.026241557657658, -0.022082923423423, -0.019265755855856, -0.015729168468469, -0.011457501441441, -0.006077859099099, -0.003657455495496, 0.003357276396396, 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AoA: [-45, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 45] - - # CFD Analysis input: - # Control surface (aileron, elevator, rudder) is in range [-20°, +20°] with step 2 - # Airspeed is from 5 to 50 m/sec with step 5 - actuator_table: [20, 18, 16, 14, 12, 10, 8, 6, 4, 2, -2, -4, -6, -8, -10, -12, -14, -16, -18, -20] - airspeed_table: [5, 10, 15, 20, 25, 30, 35, 40] - +fixedWingAerodynamics: wingArea: 0.5 # m^2 characteristicLength: 1.50 # m - # Include Roll's Effect on Forces - # Mz = Δlift_force * dL - Δdrag_force * dD - # Simplified model: Mz = k * roll​ - kRollToYaw: 0.00 + moments: + # The wingspan of the aircraft (meters). + # Used to scale dimensionless coefficients into meaningful aerodynamic moments. + b: 1.88 + + # The mean aerodynamic chord of the wing (meters). + # Also a scaling factor for moment calculations. + c: 0.24 + + # Aerodynamic Coefficients for Rolling Moment (CL) + c_l_b: -0.12 # Describes how the aircraft rolls when it experiences a sideslip + c_l_p: -1.0 # Models damping in the roll axis caused by the roll rate + c_l_r: 0.14 # Describes how yaw motion influences rolling + + # Aerodynamic Coefficients for Pitching Moment + c_m_a: -0.7 # Represents the effect of the angle of attack on the aircraft's tendency to pitch + c_m_q: -20 # Models pitch damping caused by the pitch rate + + # Aerodynamic Coefficients for Yawing Moment + c_n_p: 0.022 # Describes how rolling motion affects yawing + c_n_r: -0.8 # Models yaw damping caused by yaw rate + c_n_b: 0.25 # Represents the influence of sideslip on the yawing motion + + forces: + CLPolynomial: [5, -2.758e-11, 8.139e-09, 1.438e-07, -3.095e-05, -0.0003512, 0.05557, 0.4132, + 10, -3.934e-11, 8.204e-09, 1.935e-07, -3.075e-05, -0.0004209, 0.0552, 0.4438, + 15, -5.464e-11, 7.747e-09, 2.369e-07, -2.918e-05, -0.0004564, 0.05447, 0.4545, + 20, -5.087e-11, 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-0.1477782092, -0.14346, -0.1391481596, -0.12991, -0.1206801434, -0.1126806288, -0.10167, -0.09066832874, -0.08541357603, -0.07727455047, -0.06640522155, -0.06435491818, -0.05607078875, -0.03787093583, -0.02653722265, -0.02646466814, -0.01793725023, -0.01034293326, 0.005646460011, 0.01718659827, 0.01949725611, 0.02857434455, 0.04501360544, 0.0407507005, 0.05112912668, 0.06471540357, 0.0650187608, 0.07569797022, 0.08485071521, 0.09503115279, 0.1015060526, 0.1090744732, 0.1162223276, 0.1245585843, 0.1301257216, 0.1348206472, 0.1448418018, 0.1465493583, 0.1496999706, 0.1501983894, 0.1497053282, 0.1487265269, 0.1513825409, 0.151844567, 0.1558433352, 0.1512590182, 0.1501035558, 0.1441276963, 0.1380454385, 0.1342837875, 0.131545626, 0.1236327854, 0.1194009892, 0.112199783, 0.1056451811, 0.09290152969, 0.08349945211, 0.07797510572, 0.06226057731, 0.0529254385, 0.04342152602, 0.01584242361, 0.003028977827, + -0.004952725507, -0.02159860079, -0.04133378941, -0.0562905884, -0.06826516329, -0.07799686374, -0.0917561768, -0.09728298423, -0.105273308, -0.1117711824, -0.1204969032, -0.1250485276, -0.1296251408, -0.132787714, -0.1408094285, -0.145992531, -0.1539896171, -0.155457545, -0.1594102675, -0.1554707939, -0.1557682292, -0.15464, -0.1535126745, -0.1575437078, -0.1594759882, -0.1578561852, -0.1533218018, -0.1456889414, -0.14314, -0.1405878773, -0.1337461993, -0.1219598452, -0.1124776436, -0.10091, -0.08934853604, -0.08623860642, -0.07313754505, -0.06735861486, -0.06369748311, -0.05535084741, -0.03907726351, -0.04256954673, -0.02579630715, -0.01866431166, -0.009314591779, 0.005348346002, 0.0172561036, 0.0189939527, 0.03115133727, 0.04358324324, 0.04436711712, 0.0502421509, 0.06510494088, 0.06666555462, 0.07498270833, 0.08392770833, 0.09493598818, 0.1012332348, 0.109374558, 0.1172893159, 0.1259434009, 0.1319994032, 0.1358827168, 0.1441607348, 0.1467692568, 0.1526628294, 0.1513165878, 0.1510228604, 0.1490040709, 0.1491300084, 0.1504034882, 0.1552533446, 0.1551238739, 0.1548493975, 0.1440556785, 0.1402446368, 0.1347368722, 0.1291014752, 0.126390107, 0.1237538288, 0.1188174944, 0.1030582911, 0.09777777872, 0.08428134854, 0.07481019426, 0.06238772804, 0.04879612331, 0.03709748029, 0.01685004645, 0.006247178773] + + AoS: [-90, -88, -86, -84, -82, -80, -78, -76, -74, -72, -70, -68, -66, -64, -62, -60, -58, -56, -54, -52, -50, -48, -46, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 62, 64, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84, 86, 88, 90] + AoA: [-45, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 45] + + airspeed_table: [5, 10, 15, 20, 25, 30, 35, 40] sensors: accVariance: 0.0005 diff --git a/configs/px4_plane_5kg.yaml b/configs/px4_plane_5kg.yaml index 7b7a661..ccdbdec 100644 --- a/configs/px4_plane_5kg.yaml +++ b/configs/px4_plane_5kg.yaml @@ -39,6 +39,10 @@ vehicle: inertia: [0.478, 0, 0, 0, 0.342, 0, 0, 0, 0.811] # kg*m^2 + lonStaticFriction: 0.5 + lonKineticFriction: 0.4 + latStaticFriction: 0.8 + latKineticFriction: 0.7 actuators: airframe: @@ -111,174 +115,73 @@ actuators: maxThrust: 120.0 maxTorque: 0.7 - # unitless_setpoint, force (N), torque (Nm), PWM, RPM - bldcTableModel40x5: [0.000, 0.0, 0.0, 1000, 0, - 0.025, 0.1, 0.0, 1025, 375, - 0.050, 0.3, 0.0, 1050, 750, - 0.075, 0.7, 0.0, 1075, 1125, - 0.100, 1.2, 0.1, 1100, 1500, - 0.125, 1.9, 0.1, 1125, 1875, - 0.150, 2.8, 0.1, 1150, 2250, - 0.175, 3.8, 0.1, 1175, 2625, - 0.200, 4.9, 0.1, 1200, 3000, - 0.225, 6.2, 0.1, 1225, 3375, - 0.250, 7.7, 0.2, 1250, 3750, - 0.275, 9.3, 0.2, 1275, 4125, - 0.300, 11.1, 0.2, 1300, 4500, - 0.325, 13.0, 0.2, 1325, 4875, - 0.350, 15.1, 0.2, 1350, 5250, - 0.375, 17.3, 0.2, 1375, 5625, - 0.400, 19.7, 0.3, 1400, 6000, - 0.425, 22.3, 0.3, 1425, 6375, - 0.450, 25.0, 0.3, 1450, 6750, - 0.475, 27.8, 0.3, 1475, 7125, - 0.500, 30.8, 0.3, 1500, 7500, - 0.525, 34.0, 0.3, 1525, 7875, - 0.550, 37.3, 0.4, 1550, 8250, - 0.575, 40.8, 0.4, 1575, 8625, - 0.600, 44.4, 0.4, 1600, 9000, - 0.625, 48.2, 0.4, 1625, 9375, - 0.650, 52.1, 0.4, 1650, 9750, - 0.675, 56.2, 0.4, 1675, 10125, - 0.700, 60.4, 0.5, 1700, 10500, - 0.725, 64.8, 0.5, 1725, 10875, - 0.750, 69.4, 0.5, 1750, 11250, - 0.775, 74.1, 0.5, 1775, 11625, - 0.800, 79.0, 0.5, 1800, 12000, - 0.825, 84.0, 0.5, 1825, 12375, - 0.850, 89.1, 0.6, 1850, 12750, - 0.875, 94.4, 0.6, 1875, 13125, - 0.900, 99.9, 0.6, 1900, 13500, - 0.925, 105.6, 0.6, 1925, 13875, - 0.950, 111.3, 0.6, 1950, 14250, - 1.000, 123.4, 0.7, 2000, 15000] - - - CmxAileron: [0.051179437837838, 0.046034623423424, 0.041429333333333, 0.037423022222222, 0.03287545945946, 0.029460687087087, 0.025893938738739, 0.021668609009009, 0.016624724324324, 0.011692566966967, 0.011692566966967, 0.016624724324324, 0.021668609009009, 0.025893938738739, 0.029460687087087, 0.03287545945946, 0.037423022222222, 0.041429333333333, 0.046034623423424, 0.051179437837838, - 0.052290420420421, 0.047495687687688, 0.043795408408408, 0.039513075075075, 0.035203369369369, 0.031619396396396, 0.027709258858859, 0.022635685585586, 0.017813596096096, 0.011426172072072, 0.011426172072072, 0.017813596096096, 0.022635685585586, 0.027709258858859, 0.031619396396396, 0.035203369369369, 0.039513075075075, 0.043795408408408, 0.047495687687688, 0.052290420420421, - 0.052247738405072, 0.047800025358692, 0.043072856856857, 0.039375451451452, 0.035313177177177, 0.0325402335669, 0.028032932932933, 0.023038581247915, 0.017477374708041, 0.012142790123457, 0.012142790123457, 0.017477374708041, 0.023038581247915, 0.028032932932933, 0.0325402335669, 0.035313177177177, 0.039375451451452, 0.043072856856857, 0.047800025358692, 0.052247738405072, - 0.052231835585586, 0.047479774024024, 0.044197557807808, 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0.0408322002002, - 0.031878066066066, 0.028381822072072, 0.024794701951952, 0.018438450450451, 0.014902437687688, 0.011876391141141, 0.007762267267267, 0.006653906156156, 0.000892351351351, 0.001829623123123, 0.007608578828829, 0.007724797297297, 0.015518816816817, 0.019589544294294, 0.018605976726727, 0.025924345345345, 0.031300906906907, 0.032835689189189, 0.039457768768769, 0.041836950450451, - 0.030518955915916, 0.027373763843844, 0.024274207327327, 0.018098935255255, 0.015392555915916, 0.012007866426427, 0.0075489796997, 0.006497046486486, 0.001211103903904, 0.001229443843844, 0.00760147987988, 0.006328514114114, 0.015782433633634, 0.019739622822823, 0.019603180780781, 0.026787099099099, 0.03079126966967, 0.032412607807808, 0.040128677477478, 0.042298858858859, - 0.031147072072072, 0.028066039039039, 0.024008182182182, 0.018197977977978, 0.013797737737738, 0.011506803470137, 0.008151047714381, 0.005121478144811, 0.001130797464131, 0.001724467801134, 0.007593616950284, 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0.008320935468802, 0.006447338538539, 0.003162589122456, 0.001537703803804, 0.002312577544211, 0.003727244778111, 0.006226249716383, 0.007689371504838, 0.009408663463463, 0.011063917717718, 0.012828068535202, 0.01430672952953, 0.014012209676343, 0.016570845311979, - 0.019368414512472, 0.016479341766256, 0.014676012232641, 0.013367622945394, 0.011710951253294, 0.009667799448428, 0.007204859447202, 0.004744150983637, 0.00261976880554, 0.001767626867684, 0.002408357786358, 0.004132714371514, 0.005901791260650, 0.008450892222835, 0.009212659949746, 0.010578874082246, 0.012845882233254, 0.013936924949439, 0.015521104149047, 0.017683986786787, - 0.018510478866366, 0.017447134834835, 0.015041735810811, 0.013586956156156, 0.011841838851351, 0.0094344371997, 0.006867200713213, 0.005209793243243, 0.002891949211712, 0.001367009459459, 0.002468957526276, 0.00364054009009, 0.005637380367868, 0.008093598648649, 0.010039248235736, 0.010941240540541, 0.013202337950451, 0.014551187237237, 0.015870725337838, 0.017846034271772] - # 20 18 16 14 12 10 8 6 4 2 -2 -4 -6 -8 -10 -12 -14 -16 -18 -20 - -## 5. Fixed Wing Aerodynamics -fixed_wing_aerodynamics: - # The tables presented below showcase the coefficients of polynomial equations - # that describe the aero moments acting on an aircraft - CmxPolynomial: [5, -1.662e-12, 2.91e-11, 7.098e-09, -1.135e-07, -1.056e-05, 0.0002365, 0.0006268, - 10, -1.717e-12, 4.716e-11, 7.282e-09, -1.653e-07, -1.061e-05, 0.0002692, 0.0006576, - 15, -5.555e-13, 3.068e-11, 3.55e-09, -1.204e-07, -7.592e-06, 0.0002529, 0.0006291, - 20, -7.676e-13, 3.747e-11, 4.01e-09, -1.262e-07, -7.986e-06, 0.0002468, 0.0006565, - 25, -1.322e-12, 3.403e-11, 6.268e-09, -1.473e-07, -1.017e-05, 0.0002767, 0.0006903, - 30, -2.627e-12, 7.618e-11, 1.013e-08, -2.28e-07, -1.288e-05, 0.0003032, 0.0006878, - 35, -1.812e-12, 4.396e-11, 6.996e-09, -1.424e-07, -9.477e-06, 0.0002574, 0.0006122, - 40, -1.812e-12, 4.396e-11, 6.996e-09, -1.424e-07, -9.477e-06, 0.0002574, 0.0006122] - CmyPolynomial: [5, -9.16e-12, 1.21e-09, 4.398e-08, -4.096e-06, -6.783e-05, 0.003508, 0.005005, - 10, -1.259e-11, 1.247e-09, 5.62e-08, -4.201e-06, -8.145e-05, 0.00351, 0.005465, - 15, -1.363e-11, 1.296e-09, 5.943e-08, -4.301e-06, -8.453e-05, 0.003545, 0.005548, - 20, -1.407e-11, 1.272e-09, 6.032e-08, -4.258e-06, -8.432e-05, 0.003527, 0.005536, - 25, -1.403e-11, 1.289e-09, 6.148e-08, -4.307e-06, -8.667e-05, 0.003548, 0.005597, - 30, -1.376e-11, 1.271e-09, 6.065e-08, -4.275e-06, -8.583e-05, 0.003528, 0.005628, - 35, -1.487e-11, 1.299e-09, 6.396e-08, -4.35e-06, -8.856e-05, 0.003574, 0.005662, - 40, -1.487e-11, 1.299e-09, 6.396e-08, -4.35e-06, -8.856e-05, 0.003574, 0.005662] - CmzPolynomial: [5, -6.239e-13, 1.037e-11, 2.205e-09, -3.321e-08, 2.764e-07, 8.329e-05, 0.0001065, - 10, -2.133e-13, -2.416e-12, 1.094e-09, -6.643e-09, 1.623e-06, 8.003e-05, 0.00009477, - 15, -5.287e-13, -1.329e-11, 1.2e-09, 1.604e-08, 2.218e-06, 7.324e-05, 0.00008681, - 20, 2.17e-14, -1.435e-11, -3.134e-10, 4.362e-08, 3.192e-06, 3.617e-05, 0.00007144, - 25, 1.089e-13, -1.188e-11, -1.605e-10, 2.366e-08, 2.971e-06, 5.036e-05, 0.00006789, - 30, -3.77e-13, 8.086e-12, 1.382e-09, -2.784e-08, 1.89e-06, 8.077e-05, 0.00006182, - 35, -4.844e-13, -1.491e-11, 1.247e-09, 2.409e-08, 2.089e-06, 5.731e-05, 0.00008668, - 40, -4.844e-13, -1.491e-11, 1.247e-09, 2.409e-08, 2.089e-06, 5.731e-05, 0.00008668] - - # Let's introduce 3 components of the Aerodynamics force: - # 1. Lift is the force component perpendicular to the direction of relative motion - # 2. Drag is the force component parallel to the direction of relative motion - # 3. Side force refers to a force component that acts perpendicular to the lift and drag forces - - # Lift Force. First column is airspeed. Others columns represent the related polynomial coeficients - CLPolynomial: [5, -2.758e-11, 8.139e-09, 1.438e-07, -3.095e-05, -0.0003512, 0.05557, 0.4132, - 10, -3.934e-11, 8.204e-09, 1.935e-07, -3.075e-05, -0.0004209, 0.0552, 0.4438, - 15, -5.464e-11, 7.747e-09, 2.369e-07, -2.918e-05, -0.0004564, 0.05447, 0.4545, - 20, -5.087e-11, 7.803e-09, 2.267e-07, -2.926e-05, -0.0004493, 0.05435, 0.4525, - 25, -5.489e-11, 7.949e-09, 2.428e-07, -2.975e-05, -0.0004656, 0.05472, 0.4578, - 30, -4.749e-11, 7.778e-09, 2.219e-07, -2.926e-05, -0.0004567, 0.05433, 0.4599, - 35, -5.911e-11, 7.879e-09, 2.574e-07, -2.961e-05, -0.0004838, 0.05458, 0.4637, - 40, -5.911e-11, 7.879e-09, 2.574e-07, -2.961e-05, -0.0004838, 0.05458, 0.4637] - - # Drag Force. First column is airspeed. Others columns represent the related polynomial coeficients - CDPolynomial: [5, -1.064e-07, -4.398e-07, 0.0007783, 0.003057, 0.0852, - 10, -1.006e-07, -4.922e-07, 0.0007733, 0.003133, 0.07989, - 15, -9.475e-08, -5.335e-07, 0.0007758, 0.003196, 0.07643, - 20, -9.277e-08, -4.929e-07, 0.0007704, 0.003136, 0.076, - 25, -9.419e-08, -4.522e-07, 0.000773, 0.003132, 0.07486, - 30, -9.502e-08, -5.321e-07, 0.0007726, 0.003174, 0.07427, - 35, -9.697e-08, -5.084e-07, 0.0007757, 0.003149, 0.07311, - 40, -9.697e-08, -5.084e-07, 0.0007757, 0.003149, 0.07311] - - # Side Force. First column is airspeed. Others columns represent the related polynomial coeficients - CSPolynomial: [5, 7.536e-13, -1.905e-10, -1.447e-09, 5.434e-07, 1.741e-06, -0.0005757, -0.00398, - 10, 2.453e-12, -7.037e-12, -9.832e-09, 6.71e-08, 1.017e-05, -0.0003704, -0.004259, - 15, 1.25e-12, -1.644e-10, -7.146e-09, 4.808e-07, 8.825e-06, -0.0005611, -0.004934, - 20, -5.28e-12, -1.195e-10, 1.014e-08, 3.703e-07, -7.521e-07, -0.0005489, -0.004176, - 25, -1.722e-12, -9.755e-11, 2.461e-09, 2.845e-07, 3.041e-06, -0.0004842, -0.004495, - 30, -3.421e-12, -1.178e-10, 6.694e-09, 3.385e-07, -4.731e-07, -0.0005325, -0.004105, - 35, -4.054e-12, -1.896e-11, 6.236e-09, 9.765e-08, 2.183e-06, -0.0004129, -0.005102, - 40, -4.054e-12, -1.896e-11, 6.236e-09, 9.765e-08, 2.183e-06, -0.0004129, -0.005102] - CS_rudder_table: [-0.034155112612613, -0.031797267567568, -0.02947708018018, -0.026241557657658, -0.022082923423423, -0.019265755855856, -0.015729168468469, -0.011457501441441, -0.006077859099099, -0.003657455495496, 0.003357276396396, 0.006459244324324, 0.010639711171171, 0.015366159279279, 0.01797489963964, 0.023500867567568, 0.026326799099099, 0.028033276576577, 0.033705352252252, 0.037053002702703, - -0.031992991441441, -0.030303667567568, -0.027228712162162, -0.025249390990991, -0.022042633333333, -0.018248286486487, -0.015945734234234, -0.011783772072072, -0.007935201801802, -0.003301340990991, 0.004710243765766, 0.007349486666667, 0.011303535135135, 0.015349370720721, 0.019985036036036, 0.024186795945946, 0.026624149099099, 0.030066048648649, 0.035212244594595, 0.038025270720721, - -0.03314369029029, -0.030697902502503, -0.02741383043043, -0.027350789389389, -0.021295438038038, -0.018182256856857, -0.014550424424424, -0.011906873473474, -0.008191755355355, -0.004287395995996, 0.003974882202202, 0.00616415031031, 0.011390006406406, 0.016191970970971, 0.021088392392392, 0.024402389389389, 0.026326337737738, 0.030171841241241, 0.035225927327327, 0.038155368768769, - -0.032514510923423, -0.030184557094595, -0.026663467004505, -0.024739323986487, -0.022206186599099, -0.01663535213964, -0.01427622713964, -0.011807071734234, -0.006650976013514, -0.002302030743243, 0.004148474211712, 0.007024193693694, 0.011938378378378, 0.01475088704955, 0.020776543130631, 0.024546060022523, 0.027052919256757, 0.029901903490991, 0.03465480777027, 0.038587648986487, - -0.032984094630631, -0.030164826882883, -0.026571507243243, -0.024021661477478, -0.021767618234234, -0.019222477333333, -0.015555082738739, -0.011447781117117, -0.007537789765766, -0.00267406436036, 0.006462737513514, 0.00692112418018, 0.011022345513514, 0.014114023567568, 0.018156545369369, 0.024066290234234, 0.027327111855856, 0.029913460684685, 0.03562159618018, 0.054828394288288, - -0.034136328828829, -0.027251493493494, -0.028352680680681, -0.024489291791792, -0.02111671971972, -0.018963918418418, -0.014871859359359, -0.010815212212212, -0.007864123623624, -0.004213943443443, 0.003707236536537, 0.006339492642643, 0.011687544044044, 0.016365609109109, 0.021629694694695, 0.023760357357357, 0.026623667167167, 0.029849710710711, 0.034771638638639, 0.037970175175175, - -0.033850878102592, -0.030292873690017, -0.027001919470491, -0.024379790402648, -0.023035583747012, -0.018273110130539, -0.016105175216032, -0.001641670527671, -0.008004029784887, -0.004944220261077, 0.001714806398235, 0.006130283103512, 0.009052999448428, 0.014075188821475, 0.018416463320463, 0.022892900900901, 0.025210831770546, 0.031194166574738, 0.031899973524545, 0.036775622724766, - -0.034109542792793, -0.031605933558559, -0.028330069256757, -0.028191288288288, -0.02307338231982, -0.016952677364865, -0.016205479448198, -0.011455451858108, -0.006861248873874, -0.002464183558559, -0.000157271114865, 0.004605978119369, 0.010044080518018, 0.016555147522523, 0.016876417792793, 0.023053966779279, 0.026887526745496, 0.029399923423423, 0.034326434121622, 0.036699654842342] - CS_beta: [-0.003651853063, -0.0193264518, -0.04219804189, -0.05834706306, 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AoA: [-45, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 45] - - # CFD Analysis input: - # Control surface (aileron, elevator, rudder) is in range [-20°, +20°] with step 2 - # Airspeed is from 5 to 50 m/sec with step 5 - actuator_table: [20, 18, 16, 14, 12, 10, 8, 6, 4, 2, -2, -4, -6, -8, -10, -12, -14, -16, -18, -20] - airspeed_table: [5, 10, 15, 20, 25, 30, 35, 40] - +fixedWingAerodynamics: wingArea: 0.5 # m^2 characteristicLength: 1.50 # m - # Include Roll's Effect on Forces - # Mz = Δlift_force * dL - Δdrag_force * dD - # Simplified model: Mz = k * roll​ - kRollToYaw: 0.00 + moments: + # The wingspan of the aircraft (meters). + # Used to scale dimensionless coefficients into meaningful aerodynamic moments. + b: 1.88 + + # The mean aerodynamic chord of the wing (meters). + # Also a scaling factor for moment calculations. + c: 0.24 + + # Aerodynamic Coefficients for Rolling Moment (CL) + c_l_b: -0.12 # Describes how the aircraft rolls when it experiences a sideslip + c_l_p: -1.0 # Models damping in the roll axis caused by the roll rate + c_l_r: 0.14 # Describes how yaw motion influences rolling + + # Aerodynamic Coefficients for Pitching Moment + c_m_a: -0.7 # Represents the effect of the angle of attack on the aircraft's tendency to pitch + c_m_q: -20 # Models pitch damping caused by the pitch rate + + # Aerodynamic Coefficients for Yawing Moment + c_n_p: 0.022 # Describes how rolling motion affects yawing + c_n_r: -0.8 # Models yaw damping caused by yaw rate + c_n_b: 0.25 # Represents the influence of sideslip on the yawing motion + + forces: + CLPolynomial: [5, -2.758e-11, 8.139e-09, 1.438e-07, -3.095e-05, -0.0003512, 0.05557, 0.4132, + 10, -3.934e-11, 8.204e-09, 1.935e-07, -3.075e-05, -0.0004209, 0.0552, 0.4438, + 15, -5.464e-11, 7.747e-09, 2.369e-07, -2.918e-05, -0.0004564, 0.05447, 0.4545, + 20, -5.087e-11, 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b/configs/px4_quadplane_vtol_5kg.yaml index 33cdf5d..9a72bd2 100644 --- a/configs/px4_quadplane_vtol_5kg.yaml +++ b/configs/px4_quadplane_vtol_5kg.yaml @@ -33,6 +33,10 @@ vehicle: inertia: [0.478, 0, 0, 0, 0.342, 0, 0, 0, 0.811] # kg*m^2 + lonStaticFriction: 0.5 + lonKineticFriction: 0.4 + latStaticFriction: 0.8 + latKineticFriction: 0.7 actuators: airframe: @@ -134,174 +138,75 @@ actuators: maxThrust: 120.0 maxTorque: 0.7 - # unitless_setpoint, force (N), torque (Nm), PWM, RPM - bldcTableModel40x5: [0.000, 0.0, 0.0, 1000, 0, - 0.025, 0.1, 0.0, 1025, 375, - 0.050, 0.3, 0.0, 1050, 750, - 0.075, 0.7, 0.0, 1075, 1125, - 0.100, 1.2, 0.1, 1100, 1500, - 0.125, 1.9, 0.1, 1125, 1875, - 0.150, 2.8, 0.1, 1150, 2250, - 0.175, 3.8, 0.1, 1175, 2625, - 0.200, 4.9, 0.1, 1200, 3000, - 0.225, 6.2, 0.1, 1225, 3375, - 0.250, 7.7, 0.2, 1250, 3750, - 0.275, 9.3, 0.2, 1275, 4125, - 0.300, 11.1, 0.2, 1300, 4500, - 0.325, 13.0, 0.2, 1325, 4875, - 0.350, 15.1, 0.2, 1350, 5250, - 0.375, 17.3, 0.2, 1375, 5625, - 0.400, 19.7, 0.3, 1400, 6000, - 0.425, 22.3, 0.3, 1425, 6375, - 0.450, 25.0, 0.3, 1450, 6750, - 0.475, 27.8, 0.3, 1475, 7125, - 0.500, 30.8, 0.3, 1500, 7500, - 0.525, 34.0, 0.3, 1525, 7875, - 0.550, 37.3, 0.4, 1550, 8250, - 0.575, 40.8, 0.4, 1575, 8625, - 0.600, 44.4, 0.4, 1600, 9000, - 0.625, 48.2, 0.4, 1625, 9375, - 0.650, 52.1, 0.4, 1650, 9750, - 0.675, 56.2, 0.4, 1675, 10125, - 0.700, 60.4, 0.5, 1700, 10500, - 0.725, 64.8, 0.5, 1725, 10875, - 0.750, 69.4, 0.5, 1750, 11250, - 0.775, 74.1, 0.5, 1775, 11625, - 0.800, 79.0, 0.5, 1800, 12000, - 0.825, 84.0, 0.5, 1825, 12375, - 0.850, 89.1, 0.6, 1850, 12750, - 0.875, 94.4, 0.6, 1875, 13125, - 0.900, 99.9, 0.6, 1900, 13500, - 0.925, 105.6, 0.6, 1925, 13875, - 0.950, 111.3, 0.6, 1950, 14250, - 1.000, 123.4, 0.7, 2000, 15000] - - - CmxAileron: [0.051179437837838, 0.046034623423424, 0.041429333333333, 0.037423022222222, 0.03287545945946, 0.029460687087087, 0.025893938738739, 0.021668609009009, 0.016624724324324, 0.011692566966967, 0.011692566966967, 0.016624724324324, 0.021668609009009, 0.025893938738739, 0.029460687087087, 0.03287545945946, 0.037423022222222, 0.041429333333333, 0.046034623423424, 0.051179437837838, - 0.052290420420421, 0.047495687687688, 0.043795408408408, 0.039513075075075, 0.035203369369369, 0.031619396396396, 0.027709258858859, 0.022635685585586, 0.017813596096096, 0.011426172072072, 0.011426172072072, 0.017813596096096, 0.022635685585586, 0.027709258858859, 0.031619396396396, 0.035203369369369, 0.039513075075075, 0.043795408408408, 0.047495687687688, 0.052290420420421, - 0.052247738405072, 0.047800025358692, 0.043072856856857, 0.039375451451452, 0.035313177177177, 0.0325402335669, 0.028032932932933, 0.023038581247915, 0.017477374708041, 0.012142790123457, 0.012142790123457, 0.017477374708041, 0.023038581247915, 0.028032932932933, 0.0325402335669, 0.035313177177177, 0.039375451451452, 0.043072856856857, 0.047800025358692, 0.052247738405072, - 0.052231835585586, 0.047479774024024, 0.044197557807808, 0.039787305555556, 0.035611631381381, 0.031757238738739, 0.027886326576577, 0.023065554054054, 0.017766942942943, 0.011815688438439, 0.011815688438439, 0.017766942942943, 0.023065554054054, 0.027886326576577, 0.031757238738739, 0.035611631381381, 0.039787305555556, 0.044197557807808, 0.047479774024024, 0.052231835585586, - 0.052701977177177, 0.047798279399399, 0.04404894942943, 0.039998307267267, 0.035559612252252, 0.032021747987988, 0.028218248648649, 0.022873437597598, 0.0181430596997, 0.011818216456457, 0.011818216456457, 0.0181430596997, 0.022873437597598, 0.028218248648649, 0.032021747987988, 0.035559612252252, 0.039998307267267, 0.04404894942943, 0.047798279399399, 0.052701977177177, - 0.052212622622623, 0.048192265598932, 0.043957143810477, 0.039702182182182, 0.035389135802469, 0.031570404738071, 0.02781734034034, 0.023127637637638, 0.017893199532866, 0.012360301968635, 0.012360301968635, 0.017893199532866, 0.023127637637638, 0.02781734034034, 0.031570404738071, 0.035389135802469, 0.039702182182182, 0.043957143810477, 0.048192265598932, 0.052212622622623, - 0.052236673408102, 0.04831319237605, 0.044004748421891, 0.039625882208739, 0.035409918489919, 0.03175273886131, 0.028364103695532, 0.023558297971441, 0.018059902187902, 0.012712058098915, 0.012712058098915, 0.018059902187902, 0.023558297971441, 0.028364103695532, 0.03175273886131, 0.035409918489919, 0.039625882208739, 0.044004748421891, 0.04831319237605, 0.052236673408102, - 0.052666972597598, 0.048640882132132, 0.044249414414414, 0.039704268018018, 0.036147646396396, 0.032033438438439, 0.02807664039039, 0.023505212087087, 0.01759400731982, 0.013140747747748, 0.013140747747748, 0.01759400731982, 0.023505212087087, 0.02807664039039, 0.032033438438439, 0.036147646396396, 0.039704268018018, 0.044249414414414, 0.048640882132132, 0.052666972597598] - - CmyElevator: [0.032755115915916, 0.028016264264264, 0.025246763963964, 0.01901452972973, 0.015892378378378, 0.012089888288288, 0.008110313513514, 0.007339700900901, 0.00135464984985, 0.001966908108108, 0.007555739339339, 0.007408348348348, 0.015103936336336, 0.018589613213213, 0.018531517117117, 0.025743298498499, 0.029858863663664, 0.031415596396396, 0.038637314114114, 0.039563135135135, - 0.032519875675676, 0.028409607207207, 0.023849377777778, 0.019202447447448, 0.01514139039039, 0.011331765765766, 0.007506831831832, 0.007693660660661, 0.001041714714715, 0.001546123123123, 0.008367051051051, 0.007399648648649, 0.016527357357357, 0.019982987987988, 0.019018498498499, 0.026975591591592, 0.03092703003003, 0.032654600600601, 0.038978495495496, 0.041968054054054, - 0.032343189856523, 0.028286834834835, 0.025120890223557, 0.019005249249249, 0.014644480480481, 0.012657813813814, 0.007208731398065, 0.006798637303971, 0.000207115115115, 0.002887845178512, 0.008161159826493, 0.007895822489156, 0.015539187187187, 0.020364639305973, 0.01900543610277, 0.026168878211545, 0.030876537871205, 0.032404947614281, 0.038751915915916, 0.0408322002002, - 0.031878066066066, 0.028381822072072, 0.024794701951952, 0.018438450450451, 0.014902437687688, 0.011876391141141, 0.007762267267267, 0.006653906156156, 0.000892351351351, 0.001829623123123, 0.007608578828829, 0.007724797297297, 0.015518816816817, 0.019589544294294, 0.018605976726727, 0.025924345345345, 0.031300906906907, 0.032835689189189, 0.039457768768769, 0.041836950450451, - 0.030518955915916, 0.027373763843844, 0.024274207327327, 0.018098935255255, 0.015392555915916, 0.012007866426427, 0.0075489796997, 0.006497046486486, 0.001211103903904, 0.001229443843844, 0.00760147987988, 0.006328514114114, 0.015782433633634, 0.019739622822823, 0.019603180780781, 0.026787099099099, 0.03079126966967, 0.032412607807808, 0.040128677477478, 0.042298858858859, - 0.031147072072072, 0.028066039039039, 0.024008182182182, 0.018197977977978, 0.013797737737738, 0.011506803470137, 0.008151047714381, 0.005121478144811, 0.001130797464131, 0.001724467801134, 0.007593616950284, 0.007855645645646, 0.016358098098098, 0.02035016016016, 0.018935605605606, 0.027334601267935, 0.030565271938605, 0.033464871538205, 0.040292379045712, 0.041104918251585, - 0.031777405405406, 0.028263087577373, 0.025586632346632, 0.017474020959735, 0.014428782251639, 0.01217632162775, 0.008742303119446, 0.007983658760802, 0.001634474474474, 0.001847003738432, 0.007055576392719, 0.006259339339339, 0.01547525402954, 0.019172453269596, 0.018533600539315, 0.024870110927254, 0.030871292517007, 0.032307480541766, 0.038604775387633, 0.040716744499602, - 0.033207394894895, 0.028997698948949, 0.024283260135135, 0.018656064189189, 0.015759797297297, 0.012469694069069, 0.008559339339339, 0.007056884384384, 0.002122909159159, 0.001879157282282, 0.006691987612613, 0.006251052927928, 0.014016779279279, 0.018559667792793, 0.017867550675676, 0.026361075450451, 0.030737338588589, 0.031977732732733, 0.037654806681682, 0.041762509384384] - - - CmzRudder: [0.01937659778979, 0.01765742781982, 0.014630065657658, 0.014003380972973, 0.012452586978979, 0.009320472744745, 0.008137454846847, 0.005519602114114, 0.003624372084084, 0.001696505297297, 0.001616154306306, 0.003026687615616, 0.005671509957958, 0.008128605573574, 0.009886186714715, 0.011474644012012, 0.013384736744745, 0.015150914522523, 0.016093987195195, 0.017483404612613, - 0.019537224594595, 0.018548116186186, 0.015958248318318, 0.01377582009009, 0.012599450720721, 0.010650828798799, 0.007930307777778, 0.005747981651652, 0.003908842912913, 0.002627223393393, 0.001809310720721, 0.003844723153153, 0.005795650780781, 0.008105021051051, 0.009506131561562, 0.011535448078078, 0.012882869099099, 0.013963388918919, 0.015545505135135, 0.016672328858859, - 0.019868997237237, 0.01801362986987, 0.015587529102436, 0.013805334908242, 0.012484662502503, 0.011077185158492, 0.008319855428762, 0.006100344451118, 0.003214567874541, 0.001844260767434, 0.002043667427427, 0.004145578805472, 0.005859641401401, 0.007577185345345, 0.009496950977644, 0.011067823049716, 0.014373592018685, 0.013928592485819, 0.016081131558225, 0.01727854363697, - 0.020125516066066, 0.017695817117117, 0.015314799099099, 0.013905293843844, 0.012460492042042, 0.010670256306306, 0.007864971771772, 0.005729531306306, 0.003746144144144, 0.002068317867868, 0.002272057132132, 0.003301324774775, 0.00607686966967, 0.007519765540541, 0.008603945645646, 0.011517643093093, 0.012837853303303, 0.013829266966967, 0.015880528228228, 0.016567254954955, - 0.019073397141141, 0.018463830774775, 0.015397390894895, 0.014343057201201, 0.012237430774775, 0.009701717141141, 0.007199489153153, 0.005819756780781, 0.003385409201201, 0.001764416528529, 0.002561759423423, 0.003908278486486, 0.005959147723724, 0.00795739445045, 0.009062808504505, 0.011366945921922, 0.012260547843844, 0.013687818954955, 0.015706622078078, 0.017241452588589, - 0.019364391925259, 0.017759014214214, 0.015707176376376, 0.013900346880214, 0.012146576109443, 0.011205416616617, 0.008320935468802, 0.006447338538539, 0.003162589122456, 0.001537703803804, 0.002312577544211, 0.003727244778111, 0.006226249716383, 0.007689371504838, 0.009408663463463, 0.011063917717718, 0.012828068535202, 0.01430672952953, 0.014012209676343, 0.016570845311979, - 0.019368414512472, 0.016479341766256, 0.014676012232641, 0.013367622945394, 0.011710951253294, 0.009667799448428, 0.007204859447202, 0.004744150983637, 0.00261976880554, 0.001767626867684, 0.002408357786358, 0.004132714371514, 0.005901791260650, 0.008450892222835, 0.009212659949746, 0.010578874082246, 0.012845882233254, 0.013936924949439, 0.015521104149047, 0.017683986786787, - 0.018510478866366, 0.017447134834835, 0.015041735810811, 0.013586956156156, 0.011841838851351, 0.0094344371997, 0.006867200713213, 0.005209793243243, 0.002891949211712, 0.001367009459459, 0.002468957526276, 0.00364054009009, 0.005637380367868, 0.008093598648649, 0.010039248235736, 0.010941240540541, 0.013202337950451, 0.014551187237237, 0.015870725337838, 0.017846034271772] - # 20 18 16 14 12 10 8 6 4 2 -2 -4 -6 -8 -10 -12 -14 -16 -18 -20 - ## 5. Fixed Wing Aerodynamics -fixed_wing_aerodynamics: - # The tables presented below showcase the coefficients of polynomial equations - # that describe the aero moments acting on an aircraft - CmxPolynomial: [5, -1.662e-12, 2.91e-11, 7.098e-09, -1.135e-07, -1.056e-05, 0.0002365, 0.0006268, - 10, -1.717e-12, 4.716e-11, 7.282e-09, -1.653e-07, -1.061e-05, 0.0002692, 0.0006576, - 15, -5.555e-13, 3.068e-11, 3.55e-09, -1.204e-07, -7.592e-06, 0.0002529, 0.0006291, - 20, -7.676e-13, 3.747e-11, 4.01e-09, -1.262e-07, -7.986e-06, 0.0002468, 0.0006565, - 25, -1.322e-12, 3.403e-11, 6.268e-09, -1.473e-07, -1.017e-05, 0.0002767, 0.0006903, - 30, -2.627e-12, 7.618e-11, 1.013e-08, -2.28e-07, -1.288e-05, 0.0003032, 0.0006878, - 35, -1.812e-12, 4.396e-11, 6.996e-09, -1.424e-07, -9.477e-06, 0.0002574, 0.0006122, - 40, -1.812e-12, 4.396e-11, 6.996e-09, -1.424e-07, -9.477e-06, 0.0002574, 0.0006122] - CmyPolynomial: [5, -9.16e-12, 1.21e-09, 4.398e-08, -4.096e-06, -6.783e-05, 0.003508, 0.005005, - 10, -1.259e-11, 1.247e-09, 5.62e-08, -4.201e-06, -8.145e-05, 0.00351, 0.005465, - 15, -1.363e-11, 1.296e-09, 5.943e-08, -4.301e-06, -8.453e-05, 0.003545, 0.005548, - 20, -1.407e-11, 1.272e-09, 6.032e-08, -4.258e-06, -8.432e-05, 0.003527, 0.005536, - 25, -1.403e-11, 1.289e-09, 6.148e-08, -4.307e-06, -8.667e-05, 0.003548, 0.005597, - 30, -1.376e-11, 1.271e-09, 6.065e-08, -4.275e-06, -8.583e-05, 0.003528, 0.005628, - 35, -1.487e-11, 1.299e-09, 6.396e-08, -4.35e-06, -8.856e-05, 0.003574, 0.005662, - 40, -1.487e-11, 1.299e-09, 6.396e-08, -4.35e-06, -8.856e-05, 0.003574, 0.005662] - CmzPolynomial: [5, -6.239e-13, 1.037e-11, 2.205e-09, -3.321e-08, 2.764e-07, 8.329e-05, 0.0001065, - 10, -2.133e-13, -2.416e-12, 1.094e-09, -6.643e-09, 1.623e-06, 8.003e-05, 0.00009477, - 15, -5.287e-13, -1.329e-11, 1.2e-09, 1.604e-08, 2.218e-06, 7.324e-05, 0.00008681, - 20, 2.17e-14, -1.435e-11, -3.134e-10, 4.362e-08, 3.192e-06, 3.617e-05, 0.00007144, - 25, 1.089e-13, -1.188e-11, -1.605e-10, 2.366e-08, 2.971e-06, 5.036e-05, 0.00006789, - 30, -3.77e-13, 8.086e-12, 1.382e-09, -2.784e-08, 1.89e-06, 8.077e-05, 0.00006182, - 35, -4.844e-13, -1.491e-11, 1.247e-09, 2.409e-08, 2.089e-06, 5.731e-05, 0.00008668, - 40, -4.844e-13, -1.491e-11, 1.247e-09, 2.409e-08, 2.089e-06, 5.731e-05, 0.00008668] - - # Let's introduce 3 components of the Aerodynamics force: - # 1. Lift is the force component perpendicular to the direction of relative motion - # 2. Drag is the force component parallel to the direction of relative motion - # 3. Side force refers to a force component that acts perpendicular to the lift and drag forces - - # Lift Force. First column is airspeed. Others columns represent the related polynomial coeficients - CLPolynomial: [5, -2.758e-11, 8.139e-09, 1.438e-07, -3.095e-05, -0.0003512, 0.05557, 0.4132, - 10, -3.934e-11, 8.204e-09, 1.935e-07, -3.075e-05, -0.0004209, 0.0552, 0.4438, - 15, -5.464e-11, 7.747e-09, 2.369e-07, -2.918e-05, -0.0004564, 0.05447, 0.4545, - 20, -5.087e-11, 7.803e-09, 2.267e-07, -2.926e-05, -0.0004493, 0.05435, 0.4525, - 25, -5.489e-11, 7.949e-09, 2.428e-07, -2.975e-05, -0.0004656, 0.05472, 0.4578, - 30, -4.749e-11, 7.778e-09, 2.219e-07, -2.926e-05, -0.0004567, 0.05433, 0.4599, - 35, -5.911e-11, 7.879e-09, 2.574e-07, -2.961e-05, -0.0004838, 0.05458, 0.4637, - 40, -5.911e-11, 7.879e-09, 2.574e-07, -2.961e-05, -0.0004838, 0.05458, 0.4637] - - # Drag Force. First column is airspeed. Others columns represent the related polynomial coeficients - CDPolynomial: [5, -1.064e-07, -4.398e-07, 0.0007783, 0.003057, 0.0852, - 10, -1.006e-07, -4.922e-07, 0.0007733, 0.003133, 0.07989, - 15, -9.475e-08, -5.335e-07, 0.0007758, 0.003196, 0.07643, - 20, -9.277e-08, -4.929e-07, 0.0007704, 0.003136, 0.076, - 25, -9.419e-08, -4.522e-07, 0.000773, 0.003132, 0.07486, - 30, -9.502e-08, -5.321e-07, 0.0007726, 0.003174, 0.07427, - 35, -9.697e-08, -5.084e-07, 0.0007757, 0.003149, 0.07311, - 40, -9.697e-08, -5.084e-07, 0.0007757, 0.003149, 0.07311] - - # Side Force. First column is airspeed. Others columns represent the related polynomial coeficients - CSPolynomial: [5, 7.536e-13, -1.905e-10, -1.447e-09, 5.434e-07, 1.741e-06, -0.0005757, -0.00398, - 10, 2.453e-12, -7.037e-12, -9.832e-09, 6.71e-08, 1.017e-05, -0.0003704, -0.004259, - 15, 1.25e-12, -1.644e-10, -7.146e-09, 4.808e-07, 8.825e-06, -0.0005611, -0.004934, - 20, -5.28e-12, -1.195e-10, 1.014e-08, 3.703e-07, -7.521e-07, -0.0005489, -0.004176, - 25, -1.722e-12, -9.755e-11, 2.461e-09, 2.845e-07, 3.041e-06, -0.0004842, -0.004495, - 30, -3.421e-12, -1.178e-10, 6.694e-09, 3.385e-07, -4.731e-07, -0.0005325, -0.004105, - 35, -4.054e-12, -1.896e-11, 6.236e-09, 9.765e-08, 2.183e-06, -0.0004129, -0.005102, - 40, -4.054e-12, -1.896e-11, 6.236e-09, 9.765e-08, 2.183e-06, -0.0004129, -0.005102] - CS_rudder_table: [-0.034155112612613, -0.031797267567568, -0.02947708018018, -0.026241557657658, -0.022082923423423, -0.019265755855856, -0.015729168468469, -0.011457501441441, -0.006077859099099, -0.003657455495496, 0.003357276396396, 0.006459244324324, 0.010639711171171, 0.015366159279279, 0.01797489963964, 0.023500867567568, 0.026326799099099, 0.028033276576577, 0.033705352252252, 0.037053002702703, - -0.031992991441441, -0.030303667567568, -0.027228712162162, -0.025249390990991, -0.022042633333333, -0.018248286486487, -0.015945734234234, -0.011783772072072, -0.007935201801802, -0.003301340990991, 0.004710243765766, 0.007349486666667, 0.011303535135135, 0.015349370720721, 0.019985036036036, 0.024186795945946, 0.026624149099099, 0.030066048648649, 0.035212244594595, 0.038025270720721, - -0.03314369029029, -0.030697902502503, -0.02741383043043, -0.027350789389389, -0.021295438038038, -0.018182256856857, -0.014550424424424, -0.011906873473474, -0.008191755355355, -0.004287395995996, 0.003974882202202, 0.00616415031031, 0.011390006406406, 0.016191970970971, 0.021088392392392, 0.024402389389389, 0.026326337737738, 0.030171841241241, 0.035225927327327, 0.038155368768769, - -0.032514510923423, -0.030184557094595, -0.026663467004505, -0.024739323986487, -0.022206186599099, -0.01663535213964, -0.01427622713964, -0.011807071734234, -0.006650976013514, -0.002302030743243, 0.004148474211712, 0.007024193693694, 0.011938378378378, 0.01475088704955, 0.020776543130631, 0.024546060022523, 0.027052919256757, 0.029901903490991, 0.03465480777027, 0.038587648986487, - -0.032984094630631, -0.030164826882883, -0.026571507243243, -0.024021661477478, -0.021767618234234, -0.019222477333333, -0.015555082738739, -0.011447781117117, -0.007537789765766, -0.00267406436036, 0.006462737513514, 0.00692112418018, 0.011022345513514, 0.014114023567568, 0.018156545369369, 0.024066290234234, 0.027327111855856, 0.029913460684685, 0.03562159618018, 0.054828394288288, - -0.034136328828829, -0.027251493493494, -0.028352680680681, -0.024489291791792, -0.02111671971972, -0.018963918418418, -0.014871859359359, -0.010815212212212, -0.007864123623624, -0.004213943443443, 0.003707236536537, 0.006339492642643, 0.011687544044044, 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AoA: [-45, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 45] - - # CFD Analysis input: - # Control surface (aileron, elevator, rudder) is in range [-20°, +20°] with step 2 - # Airspeed is from 5 to 50 m/sec with step 5 - actuator_table: [20, 18, 16, 14, 12, 10, 8, 6, 4, 2, -2, -4, -6, -8, -10, -12, -14, -16, -18, -20] - airspeed_table: [5, 10, 15, 20, 25, 30, 35, 40] - +fixedWingAerodynamics: wingArea: 0.5 # m^2 characteristicLength: 1.50 # m - # Include Roll's Effect on Forces - # Mz = Δlift_force * dL - Δdrag_force * dD - # Simplified model: Mz = k * roll​ - kRollToYaw: 0.00 + moments: + # The wingspan of the aircraft (meters). + # Used to scale dimensionless coefficients into meaningful aerodynamic moments. + b: 1.88 + + # The mean aerodynamic chord of the wing (meters). + # Also a scaling factor for moment calculations. + c: 0.24 + + # Aerodynamic Coefficients for Rolling Moment (CL) + c_l_b: -0.12 # Describes how the aircraft rolls when it experiences a sideslip + c_l_p: -1.0 # Models damping in the roll axis caused by the roll rate + c_l_r: 0.14 # Describes how yaw motion influences rolling + + # Aerodynamic Coefficients for Pitching Moment + c_m_a: -0.7 # Represents the effect of the angle of attack on the aircraft's tendency to pitch + c_m_q: -20 # Models pitch damping caused by the pitch rate + + # Aerodynamic Coefficients for Yawing Moment + c_n_p: 0.022 # Describes how rolling motion affects yawing + c_n_r: -0.8 # Models yaw damping caused by yaw rate + c_n_b: 0.25 # Represents the influence of sideslip on the yawing motion + + forces: + CLPolynomial: [5, -2.758e-11, 8.139e-09, 1.438e-07, -3.095e-05, -0.0003512, 0.05557, 0.4132, + 10, -3.934e-11, 8.204e-09, 1.935e-07, -3.075e-05, -0.0004209, 0.0552, 0.4438, + 15, -5.464e-11, 7.747e-09, 2.369e-07, -2.918e-05, -0.0004564, 0.05447, 0.4545, + 20, -5.087e-11, 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0.1548493975, 0.1440556785, 0.1402446368, 0.1347368722, 0.1291014752, 0.126390107, 0.1237538288, 0.1188174944, 0.1030582911, 0.09777777872, 0.08428134854, 0.07481019426, 0.06238772804, 0.04879612331, 0.03709748029, 0.01685004645, 0.006247178773] + + AoS: [-90, -88, -86, -84, -82, -80, -78, -76, -74, -72, -70, -68, -66, -64, -62, -60, -58, -56, -54, -52, -50, -48, -46, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 62, 64, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84, 86, 88, 90] + AoA: [-45, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -20, -18, -16, -14, -12, -10, -8, -6, -4, -2, 0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 45] + + airspeed_table: [5, 10, 15, 20, 25, 30, 35, 40] + sensors: accVariance: 0.0005 diff --git a/scripts/ap_plane.sh b/scripts/ap_plane.sh new file mode 100755 index 0000000..965f8c0 --- /dev/null +++ b/scripts/ap_plane.sh @@ -0,0 +1,17 @@ +#!/bin/bash +echo "Hint:" +echo "cd ~/ardupilot" +echo "./Tools/autotest/sim_vehicle.py -v Plane --console --map -w --model JSON -l 55.75690,48.74115,-7,0" +sleep 1 +echo "" + +SCRIPT_DIR="$(dirname "$0")" +REPO_DIR="$(dirname "$SCRIPT_DIR")" +CMAKE_DIR=$REPO_DIR/src/Simulator +CREATE_APP_IMAGE_SCRIPT_PATH=$REPO_DIR/src/UavDynamics/scripts/build_appimage.sh +BUILD_DIR=$REPO_DIR/build + +rm $REPO_DIR/UavDynamics-x86_64.AppImage +$CREATE_APP_IMAGE_SCRIPT_PATH --cmake-dir $CMAKE_DIR --build-dir $BUILD_DIR + +$REPO_DIR/UavDynamics-x86_64.AppImage --config $REPO_DIR/configs/ap_plane.yaml diff --git a/scripts/plane.sh b/scripts/plane.sh new file mode 100755 index 0000000..b35522b --- /dev/null +++ b/scripts/plane.sh @@ -0,0 +1,17 @@ +#!/bin/bash +echo "Hint:" +echo "cd ~/PX4-Autopilot" +echo "PX4_SIM_MODEL=gazebo-classic_plane ./build/px4_sitl_default/bin/px4 ./build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i 0" +sleep 1 +echo "" + +SCRIPT_DIR="$(dirname "$0")" +REPO_DIR="$(dirname "$SCRIPT_DIR")" +CMAKE_DIR=$REPO_DIR/src/Simulator +CREATE_APP_IMAGE_SCRIPT_PATH=$REPO_DIR/src/UavDynamics/scripts/build_appimage.sh +BUILD_DIR=$REPO_DIR/build + +rm $REPO_DIR/UavDynamics-x86_64.AppImage +$CREATE_APP_IMAGE_SCRIPT_PATH --cmake-dir $CMAKE_DIR --build-dir $BUILD_DIR + +$REPO_DIR/UavDynamics-x86_64.AppImage --config $REPO_DIR/configs/px4_plane_5kg.yaml diff --git a/scripts/vtol.sh b/scripts/vtol.sh new file mode 100755 index 0000000..b58eb23 --- /dev/null +++ b/scripts/vtol.sh @@ -0,0 +1,17 @@ +#!/bin/bash +echo "Hint:" +echo "cd ~/PX4-Autopilot" +echo "PX4_SIM_MODEL=gazebo-classic_standard_vtol ./build/px4_sitl_default/bin/px4 ./build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i 0" +sleep 1 +echo "" + +SCRIPT_DIR="$(dirname "$0")" +REPO_DIR="$(dirname "$SCRIPT_DIR")" +CMAKE_DIR=$REPO_DIR/src/Simulator +CREATE_APP_IMAGE_SCRIPT_PATH=$REPO_DIR/src/UavDynamics/scripts/build_appimage.sh +BUILD_DIR=$REPO_DIR/build + +rm $REPO_DIR/UavDynamics-x86_64.AppImage +$CREATE_APP_IMAGE_SCRIPT_PATH --cmake-dir $CMAKE_DIR --build-dir $BUILD_DIR + +$REPO_DIR/UavDynamics-x86_64.AppImage --config $REPO_DIR/configs/px4_vtol_5kg.yaml diff --git a/src/UavDynamics b/src/UavDynamics index 0d33916..c141979 160000 --- a/src/UavDynamics +++ b/src/UavDynamics @@ -1 +1 @@ -Subproject commit 0d3391623e481126a632865e91a4de0ca4519f24 +Subproject commit c14197912bc27db0db8648caa410f4aa14ae3fd3