diff --git a/rosflight_sim/launch/fixedwing.launch.py b/rosflight_sim/launch/fixedwing.launch.py index 3f221440..e4249a58 100644 --- a/rosflight_sim/launch/fixedwing.launch.py +++ b/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:="): diff --git a/rosflight_sim/params/aerosonde_dynamics.yaml b/rosflight_sim/params/aerosonde_dynamics.yaml new file mode 100644 index 00000000..71e59666 --- /dev/null +++ b/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 diff --git a/rosflight_sim/params/skyhunter_dynamics.yaml b/rosflight_sim/params/skyhunter_dynamics.yaml deleted file mode 100644 index 9edf6c9e..00000000 --- a/rosflight_sim/params/skyhunter_dynamics.yaml +++ /dev/null @@ -1,96 +0,0 @@ -# Parameters for ROSflight software-in-the-loop simulation, based on Sonicmodell Skyhunter 1800mm UAV. -# Authors: Ian Reid and Phil Tokumaru - -# Mass and inertia parameters are defined in fixedwing.urdf.xacro. -# Mass: 2.28 -# Jx: 0.141 -# Jy: 0.208 -# Jz: 0.293 -# Jxz: 0.04 - -/fixedwing/rosflight_sil: - ros__parameters: - rho: 1.2682 - mass: 2.28 - - wing_s: 0.4296 - wing_b: 1.795 - wing_c: 0.2276 - wing_M: 50.0 - wing_epsilon: 0.1592 # revisit -- may not need this for the calculation - wing_alpha0: 0.05236 - - D_prop : 0.2794 # prop diameter in m (11 in) - CT_0 : 0.19720588 - CT_1 : 0.2677542 - CT_2 : -0.56626075 - CQ_0 : 0.01323475 - CQ_1 : -0.00637997 - CQ_2 : -0.01247159 - KV : 600.0 # Motor speed constant from datasheet in RPM/V - KQ : 0.015916 #((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 : 24.0 # voltage for 6s battery at 4 volts per cell - R_motor : 0.042 # ohms - I_0 : 1.5 # no-load (zero torque) current (A) - - servo_tau: .02 - - C_L_O: .31351 - C_L_alpha: 5.1069 - C_L_beta: 0.0 - C_L_p: 0.0 - C_L_q: 8.7092 - C_L_r: 0.0 - C_L_delta_a: 0.0 - C_L_delta_e: 0.13 # Correct sign? - C_L_delta_r: 0.0 - - C_D_O: 0.00445 - C_D_alpha: 0.03 # revisit - C_D_beta: 0.0 # revisit - C_D_p: 0.0 # revisit - C_D_q: 0.0 # revisit - C_D_r: 0.0 # revisit - C_D_delta_a: 0.0 # revisit - C_D_delta_e: 0.0135 # revisit - C_D_delta_r: 0.0 # revisit - - C_ell_O: 0.0 - C_ell_alpha: 0.00 - C_ell_beta: -0.0790 - C_ell_p: -0.5077 - C_ell_q: 0.0 - C_ell_r: 0.1871 - C_ell_delta_a: 0.17 #change back/double check - C_ell_delta_e: 0.0 - C_ell_delta_r: 0.0 - - C_m_O: 0.02626 - C_m_alpha: -1.2761 - C_m_beta: 0.0 - C_m_p: 0.0 - C_m_q: -17.8301 # check the sign on this - C_m_r: 0.0 - C_m_delta_a: 0.0 - C_m_delta_e: -.99 # check the sign on this - C_m_delta_r: 0.0 - - C_n_O: 0.0 - C_n_alpha: 0.0 - C_n_beta: 0.1301 - C_n_p: -0.0364 - C_n_q: 0.0 - C_n_r: -0.1541 - C_n_delta_a: -0.011 - C_n_delta_e: 0.0 - C_n_delta_r: 0.0 #check the sign on this - - C_Y_O: 0.0 - C_Y_alpha: 0.00 - C_Y_beta: -0.3681 - C_Y_p: 0.0700 - C_Y_q: 0.0 - C_Y_r: 0.0 - C_Y_delta_a: 0.075 #check the sign on this - C_Y_delta_e: 0.0 - C_Y_delta_r: 0.0 #check the sign on this diff --git a/rosflight_sim/resources/runway.world b/rosflight_sim/resources/runway.world index 7301c1d6..f1e3321a 100644 --- a/rosflight_sim/resources/runway.world +++ b/rosflight_sim/resources/runway.world @@ -51,8 +51,8 @@ - 0.25 - 0.25 + 0.1 + 0.1 diff --git a/rosflight_sim/resources/wing.dae b/rosflight_sim/resources/wing.dae deleted file mode 100644 index 404624b5..00000000 --- a/rosflight_sim/resources/wing.dae +++ /dev/null @@ -1,1268 +0,0 @@ - - - - - ColeB - OpenCOLLADA for 3ds Max; Version: 1.6; Revision: 24 - - 2016-08-02T19:43:34 - 2016-08-02T19:43:34 - - Z_UP - - - - - - - Wing_png - - - - - Wing_png-surface - - - - - - 0 0 0 1 - - - 0.5882353 0.5882353 0.5882353 1 - - - - - - 0 0 0 1 - - - 9.999999 - - - 0 0 0 1 - - - 1 1 1 1 - - - 1 - - - - - - - - 0 - 0 - 0 - 1.5 - 1 - 0 - 0 - 0 - 3 - - - 1 - - 1 - 0 - 0 - 0 - 0 - 0.1 - - - - - - - - - - - - - - - -0.02032846 -0.1830921 -0.1073283 -0.04307937 - -0.1830919 -0.1013461 - 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