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ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles
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Add mass for multirotor model config #107

Closed Jaeyoung-Lim closed 3 years ago

Jaeyoung-Lim commented 3 years ago

Problem Description The multirotor_model was not considering the mass of the vehicle and assuming that the acceleration is equal to the force. Therefore, the coefficients were only valid when the mass of the vehicle was 1kg

This commit adds mass to the multirotor model config and consumes for the multirotor dynamics model

Before PR With input aerodynamic velocity Figure_1 With zero aerodynamic velocity Figure_2

After PR With input aerodynamic velocity Rotor_Feature_Computation With zero aerodynamic velocity Figure_2

Additional Context

Jaeyoung-Lim commented 3 years ago

@manumerous I was trying not to ping you on a sunday :joy: but thanks for the review