Commit 63cc44d8 authored by Lorenz Meier's avatar Lorenz Meier
Browse files

Iris model: Switch to 10 inch propellers and realistic inertia

parent 58b61d68
...@@ -16,9 +16,9 @@ ...@@ -16,9 +16,9 @@
<xacro:property name="arm_length_front_y" value="0.22" /> <!-- [m] --> <xacro:property name="arm_length_front_y" value="0.22" /> <!-- [m] -->
<xacro:property name="arm_length_back_y" value="0.2" /> <!-- [m] --> <xacro:property name="arm_length_back_y" value="0.2" /> <!-- [m] -->
<xacro:property name="rotor_offset_top" value="0.023" /> <!-- [m] --> <xacro:property name="rotor_offset_top" value="0.023" /> <!-- [m] -->
<xacro:property name="radius_rotor" value="0.1" /> <!-- [m] --> <xacro:property name="radius_rotor" value="0.128" /> <!-- [m] -->
<xacro:property name="motor_constant" value="8.54858e-06" /> <!-- [kg.m/s^2] --> <xacro:property name="motor_constant" value="9.9865e-06" /> <!-- [kg.m/s^2] -->
<xacro:property name="moment_constant" value="0.16" /> <!-- [m] --> <xacro:property name="moment_constant" value="0.016" /> <!-- [m] -->
<xacro:property name="time_constant_up" value="0.0125" /> <!-- [s] --> <xacro:property name="time_constant_up" value="0.0125" /> <!-- [s] -->
<xacro:property name="time_constant_down" value="0.025" /> <!-- [s] --> <xacro:property name="time_constant_down" value="0.025" /> <!-- [s] -->
<xacro:property name="max_rot_velocity" value="838" /> <!-- [rad/s] --> <xacro:property name="max_rot_velocity" value="838" /> <!-- [rad/s] -->
......
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