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ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles
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Add moment coefficients for the standard wing model and control surfaces #144

Closed Jaeyoung-Lim closed 3 years ago

Jaeyoung-Lim commented 3 years ago

Problem Description This commit adds moment coefficients for the standard wing model and control surfaces

Testing This was tested with a quadplane_model with a custom flight log generated in manual and stabilized mode

make estimate-model model=quadplane_model log=resources/<custom_log>

quadplane2 quadplane quadplane3

Resulting estimated coefficients are as the following

coefficients:
  c_d_wing_xz_lin: 9.857325322984973
  c_d_wing_xz_offset: 1.7608411983224699
  c_d_wing_xz_quad: 14.582778621159038
  c_l_wing_xz_lin: 7.354138666674714
  c_l_wing_xz_offset: 0.35340257538714354
  c_m_x_wing_xz_lin: -0.3033442956662163
  c_m_x_wing_xz_offset: -0.03993946355020013
  control_surface_0_c_d_delta: 10951.62612713498
  control_surface_0_c_l_delta: 10497.97558391014
  control_surface_0_c_m_x_delta: -3852.3259922164857
  control_surface_0_c_m_y_pitch_delta: 5035.6921908932945
  control_surface_0_c_m_z_delta: 3839.6249541143306
  control_surface_1_c_d_delta: 10375.609565622339
  control_surface_1_c_l_delta: 9922.166534704374
  control_surface_1_c_m_x_delta: -4074.37504132428
  control_surface_1_c_m_y_pitch_delta: 5102.2945765055065
  control_surface_1_c_m_z_delta: 4061.291386547589
  control_surface_2_c_d_delta: -514.1918623846291
  control_surface_2_c_l_delta: -515.4232458644941
  control_surface_2_c_m_x_delta: -292.93619788220064
  control_surface_2_c_m_y_pitch_delta: -76.40019871528516
  control_surface_2_c_m_z_delta: 293.8526143944141
  intercept: 0.0
  puller_c_m_drag_z_lin: 0.004014790982512653
  puller_c_m_drag_z_quad: 1.4474706831193287
  puller_c_m_leaver_lin: -5.03134649099124e-06
  puller_c_m_leaver_quad: 4.176651991566471e-06
  puller_c_m_rolling: -3.15253496309252
  puller_rot_drag_lin: 162.81484775042603
  puller_rot_thrust_lin: 2.9545896949737296
  puller_rot_thrust_quad: 187.5982069562628
  vertical_c_m_drag_z_lin: 0.11446584639530208
  vertical_c_m_drag_z_quad: 1.6122461652249056
  vertical_c_m_leaver_lin: 2.067426722873915
  vertical_c_m_leaver_quad: 21.107034117705382
  vertical_c_m_rolling: -0.012714552607306154
  vertical_rot_drag_lin: 0.13629339771115828
  vertical_rot_thrust_lin: -0.26934630204906407
  vertical_rot_thrust_quad: 33.27441141485527
metrics:
  R2: 0.9510818352935221
model:
  puller_:
  - dataframe_name: u4
    description: puller rotor
    position:
    - 0.22
    - 0
    - 0
    rotor_4: null
    rotor_axis:
    - 1
    - 0
    - 0
    turning_direction: -1
  vertical_:
  - dataframe_name: u0
    description: front right rotor
    position:
    - 0.35
    - 0.35
    - -0.07
    rotor_0: null
    rotor_axis:
    - 0
    - 0
    - -1
    turning_direction: -1
  - dataframe_name: u1
    description: back left rotor
    position:
    - -0.35
    - -0.35
    - -0.07
    rotor_1: null
    rotor_axis:
    - 0
    - 0
    - -1
    turning_direction: -1
  - dataframe_name: u2
    description: front left rotor
    position:
    - 0.35
    - -0.35
    - -0.07
    rotor_2: null
    rotor_axis:
    - 0
    - 0
    - -1
    turning_direction: 1
  - dataframe_name: u3
    description: back right rotor
    position:
    - -0.35
    - 0.35
    - -0.07
    rotor_3: null
    rotor_axis:
    - 0
    - 0
    - -1
    turning_direction: 1
  wing_:
  - control_surface_0: null
    dataframe_name: u5
    description: aileron_right
  - control_surface_1: null
    dataframe_name: u6
    description: aileron_left
  - control_surface_2: null
    dataframe_name: u7
    description: elevator
numper of samples: 6060