[Simulation][Rotor] do not add noise if the target PWM is close to zero

jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)

http://www.jsk.t.u-tokyo.ac.jp/index-j.html

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[Simulation][Rotor] do not add noise if the target PWM is close to zero #523

Closed tongtybj closed 2 years ago

tongtybj commented 2 years ago

What is this

In simulation, do not add noise if the target PWM is close to zero.

Detail

Current system add noise on target PWM to simulate the real rotor behabvior regardless of the PWM value. However, in real robot, if the PWM is zero, there is no noise.