Open srmainwaring opened 2 months ago
Slightly related is this conversation: https://github.com/gazebosim/gz-sim/pull/2189/files#r1348128692
I'm open to removing this line, but it seems that there are two different use cases: (1) for reversible thrust in the case of propellers and (2) for no reversible thrust (I dont think a reversed airfoil would have the same lift-drag coefficients). We probably should have a simple reversible
tag that defaults to true. I should have thought of this when reviewing said PR :facepalm: .
We probably should have a simple
reversible
tag that defaults to true.
That would be a good solution that preserves previous behaviour. I'll raise a PR with the change.
Most airfoils are not symmetric when reversed, but there are exceptions: https://en.wikipedia.org/wiki/Sikorsky_S-72
Environment
Not environment specific.
Description
Previous behaviour
Changed behaviour
Steps to reproduce
ardupilot_gazebo
models propeller thrust by applying the lift drag plugin to each propeller blade. The upwards direction is along the axis of rotation and the forward direction is along the +/- y-direction depending upon whether the rotation is cw or ccw and which blade is being modelled (for a two blade prop).This is the change from #2189 that altered the behaviour.
https://github.com/gazebosim/gz-sim/blob/90a7ba7e79e76d50b2cb97e4a20aad5ebba9b023/src/systems/lift_drag/LiftDrag.cc#L306-L310