180 forces and moments update #182
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This publishes and calculates forces, but they are all zero for the moment.
The multirotor flips and crashes to nans very quickly.
The aircraft flies for a good chunk of time, but it randomly will acclerate to the ground way to fast. Also the issue was that the forces were being transformed to the inertial frame. But the forces should be given in NED body frame.
The vehicle flies pretty well, however, the vehicle yeets off into infinity at about 300 m/s randomly. It may be connected to when you change commands randomly. The aircraft can also sustain ~420 m/s and never slow down.
Working model that reflects reality relativley well. The params are hardcoded in this commit.
Also pilot tested the sim. The yaw rate control seems slow.
JMoore5353
approved these changes
Aug 6, 2024
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Updated the multi-rotor forces and moments to agree with chapter 14. In addition, the bugs with going ~Mach 1.8 at full throttle have been fixed.
The model now includes:
In pilot testing it looks like the yaw response is a little sluggish, but still reasonable. It is hard to determine the cause, and it may not even be in the forces and moments, though if it is, it would be in the propeller torque calculations.
For default parameters, the top speed is now 58 mph, the prop speed spans the entire working range of the APC propeller chart and the aircraft responds appropriately to free fall situations.