Merge remote-tracking branch 'origin/main' into 180-forces-and-moment…

…s-update

rosflight_sim/launch/fixedwing.launch.py

@@ -74,7 +74,7 @@ def generate_launch_description():
         'ros_log_level', default_value=TextSubstitution(text='info')
     )
 
-    aircraft = 'skyhunter' # default aircraft
+    aircraft = 'anaconda' # default aircraft
 
     for arg in sys.argv:
         if arg.startswith("aircraft:="):

rosflight_sim/params/aerosonde_dynamics.yaml

@@ -0,0 +1,96 @@
+# Parameters for ROSflight software-in-the-loop simulation
+
+# Mass and inertia parameters are defined in fixedwing.urdf.xacro.
+# Mass: 11.0
+# Jx: 0.8244
+# Jy: 1.135
+# Jz: 1.759
+# Jxz: 0.1204
+
+/fixedwing/rosflight_sil:
+  ros__parameters:
+    rho: 1.2682
+    mass: 11.0
+
+    wing_s: 0.55
+    wing_b: 2.8956
+    wing_c: 0.18994
+    wing_M: 50.0
+    wing_epsilon: 0.16
+    wing_alpha0: 0.47
+
+    D_prop : 0.508
+    CT_0 : 0.09357
+    CT_1 : -0.06044
+    CT_2 : -0.1079
+    CQ_0 : 0.005230
+    CQ_1 : 0.004970
+    CQ_2 : -0.01664
+    KV : 145.0         # Motor speed constant from datasheet in RPM/V
+    KQ : 0.06586     # ((1 /KV_rpm_per_volt) * 60 / (2 * M_PI))
+                     # Back-emf constant, KV in V-s/rad, Motor torque constant, KQ in N-m/A
+    V_max : 44.4     # voltage for 12s battery at 3.7 volts per cell
+    R_motor : 0.042  # ohms
+    I_0 : 1.5        # no-load (zero torque) current (A)
+
+    servo_tau: .02
+
+    C_L_O: 0.23
+    C_L_alpha: 5.61
+    C_L_beta: 0.0
+    C_L_p: 0.0
+    C_L_q: 7.95
+    C_L_r: 0.0
+    C_L_delta_a: 0.0
+    C_L_delta_e: 0.13
+    C_L_delta_r: 0.0
+
+    C_D_O: 0.043
+    C_D_alpha: 0.03
+    C_D_beta: 0.0
+    C_D_p: 0.0
+    C_D_q: 0.0
+    C_D_r: 0.0
+    C_D_delta_a: 0.0
+    C_D_delta_e: 0.0135
+    C_D_delta_r: 0.0
+
+    C_ell_O: 0.0
+    C_ell_alpha: 0.00
+    C_ell_beta: -0.13
+    C_ell_p: -0.51
+    C_ell_q: 0.0
+    C_ell_r: 0.25
+    C_ell_delta_a: 0.17
+    C_ell_delta_e: 0.0
+    C_ell_delta_r: 0.0024
+
+    C_m_O: 0.0135
+    C_m_alpha: -2.74
+    C_m_beta: 0.0
+    C_m_p: 0.0
+    C_m_q: -38.21
+    C_m_r: 0.0
+    C_m_delta_a: 0.0
+    C_m_delta_e: -0.99
+    C_m_delta_r: 0.0
+
+    C_n_O: 0.0
+    C_n_alpha: 0.0
+    C_n_beta: 0.073
+    C_n_p: 0.069
+    C_n_q: 0.0
+    C_n_r: -0.095
+    C_n_delta_a: -0.011
+    C_n_delta_e: 0.0
+    C_n_delta_r: -0.069
+
+    C_Y_O: 0.0
+    C_Y_alpha: 0.00
+    C_Y_beta: -0.98
+    C_Y_p: 0.0
+    C_Y_q: 0.0
+    C_Y_r: 0.0
+    C_Y_delta_a: 0.075
+    C_Y_delta_e: 0.0
+    C_Y_delta_r: 0.19

rosflight_sim/resources/runway.world

@@ -51,8 +51,8 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.25</mu>
-                <mu2>0.25</mu2>
+                <mu>0.1</mu>
+                <mu2>0.1</mu2>
               </ode>
             </friction>
           </surface>