min/max Roll, pitch, yaw and thrust value for /uav/input/rateThrust topic?

mit-aera / FlightGoggles

A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT AERA group.

http://flightgoggles.mit.edu

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min/max Roll, pitch, yaw and thrust value for /uav/input/rateThrust topic? #104

Closed jluo-bgl closed 5 years ago

jluo-bgl commented 5 years ago

what exactly min/max Roll, pitch, yaw and thrust value for /uav/input/rateThrust topic?

Thanks.

eatal commented 5 years ago

The angular rates are not limited, but the obtainable thrust is limited by the motor speeds. The speed of each motor is nonnegative and bounded by /uav/flightgoggles_uav_dynamics/max_prop_speed. This leads to a nonnegative thrust value. The maximum achievable thrust can be calculated as follows:

maximum_thrust = 4 thrust_coefficient max_prop_speed^2

so for the default parameters that would be:

maximum_thrust = 4 1.91e-6 2200 * 2200 = 37.0 N