Fix drift in Azi - Githubissues

fnivek commented 9 years ago

You wrote this in my notes. I'm putting it in the issues to remind you.

jpanikulam commented 9 years ago

Does this ref #9 ?

fnivek commented 9 years ago

Is this the same issue Zach?

zachgoins commented 9 years ago

Don't believe it is the same issue. The visualizer was showing it going straight but it still drifted a bit to the left.

jpanikulam commented 9 years ago

The visualizer is using the raw B matrix assembled here.

If it's drifting to the left when the visualizer thinks it is going straight, I suspect that is because the left and right thrusters are generating different thrust for the same value.
If it is spinning when it supposed to be strafing, it is likely because the center of mass is offset from the geometric center of the boat, and Azi should (but doesn't) account for that. The simulator uses the geometric center, not the real COM.

Could either of these explain it, @zachgoins ?

uf-mil-archive / PropaGator