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28dbd6d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | motor_params:
total_thrust: 2.0
thrust_coef: 3.16e-10
torque_coef: 7.94e-12
noise_ratio: 0.02
tau: 0.01
drag_params:
drag_coef_xyz: 3.0
drag_area_xyz: 4.0e-4
drag_coef_pqr: 1.0e-4
control_params:
ang_vel:
description: "input: angular velocity command | output: normalized angular torque command"
kp: [4.0e-2, 4.0e-2, 8.0e-2]
ki: [5.0e-7, 5.0e-7, 2.7e-4]
kd: [1.0e-4, 1.0e-4, 0.0]
lim: [1.0, 1.0, 1.0]
ang_pos:
description: "input: angular position command | output: angular velocity command"
kp: [2.0, 2.0, 2.0]
ki: [0.0, 0.0, 0.0]
kd: [0.0, 0.0, 0.0]
lim: [3.0, 3.0, 3.0]
lin_vel:
description: "input: linear velocity command | output: angular position command"
kp: [0.8, 0.8]
ki: [0.3, 0.3]
kd: [0.5, 0.5]
lim: [0.4, 0.4]
lin_pos:
description: "input: linear position command | output: linear velocity command"
kp: [1.0, 1.0]
ki: [0.0, 0.0]
kd: [0.0, 0.0]
lim: [2.0, 2.0]
z_pos:
description: "input: height position target | output: z velocity command"
kp: 1.0
ki: 0.0
kd: 0.0
lim: 1.0
z_vel:
description: "input: z velocity command | output: normalized thrust command"
kp: 2.0
ki: 0.5
kd: 0.05
lim: 1.0
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