Fix rotor leaver moment calculation

[manumerous]

The inflow downscaling part of the motor leaver moment dependet on the fourth power of the diameter instead of the third power. the third power is correct due to the multiplication with the advance ratio.

[manumerous]

I think you need to also change the gazebo rotor model calcularions now:

https://github.com/ethz-asl/data-driven-dynamics/blob/cc72673a5af57e11806017483e9adf4280b4aad5/src/parametric_dynamics_model.cpp#L117

Probably this is where the oscillations are coming from?

Is fixed now. I think this should not influence any oscillations since if both equations are equal it will just influence the scale of the coefficient.

[manumerous]

I tried to format the doc with clang-format as written in the failed CI check. However, it still fails. What am I missing?

[Jaeyoung-Lim]

@manumerous Did you try

make format

[manumerous]

@manumerous Did you try

make format

Thx that works.

[Jaeyoung-Lim]

@manumerous Have you flown this? or do we need to test fly the change?

[manumerous]

How would I port the generated model into gazebo? So far i didn't find any documentation on that topic.

[Jaeyoung-Lim]

@manumerous This is what the gazebo model is using: https://github.com/ethz-asl/data-driven-dynamics/blob/0178c09411de74a241243ec297c1b009d5d9339d/models/iris_aerodynamics/iris_aerodynamics.sdf#L356

[Jaeyoung-Lim]

@manumerous For the iris

Tools/sitl_run.sh -m iris -s iris_aerodynamics

[manumerous]

This was flight tested and worked on a short mission flight.

[Jaeyoung-Lim]

@manumerous Awesome! Thanks!