16 lines
627 BLFS
YAML
16 lines
627 BLFS
YAML
sample_rate: 200 # Hz — control loop and simulation rate; time_step = 1/sample_rate
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mass: 0.770
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gravity: 9.80665
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arm_length: 0.1103
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motor_spread_angle: 0.925
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thrust_coefficient: 8.07e-9
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moment_scale: 1.3719e-10
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motor_constant: 36.5
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rpm_min: 3000
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rpm_max: 20000
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inertia: [0.0033, 0.0033, 0.005] # diagonal elements; loaded as np.diag(inertia)
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COM_vertical_offset: 0.05
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accel_limit_up: 6.962 # m/s² max upward acceleration (T_max - mg) / m
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accel_limit_down: 9.429 # m/s² max downward acceleration (mg - T_min) / m
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accel_limit_horiz: 13.602 # m/s² max horizontal acceleration sqrt(T_max² - (mg)²) / m
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