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uzh-rpg / vimo

Visual-Inertial Model-based State and External Forces Estimator
GNU General Public License v3.0
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Different thrust coefficient for blackbird dataset #4

Closed juanmed closed 3 years ago

juanmed commented 4 years ago

Hi,

Looking at your code for vertical rotor thrust calculation in Line 339, I see a slight difference in the thrust coefficient for the rotors: you set it as 2.03e-8 while blackbird dataset authors indicate 2.27e-8. Is there any reason behind this?

Thanks,

foehnx commented 3 years ago

To the best of my knowledge, this value was adapted to replicate exact gravity compensation in hover, since otherwise a constant force in body-z direction would be estimated.