Commit d4bc7c32 authored by Roman Bapst's avatar Roman Bapst
Browse files

Merge pull request #2 from PX4/tailsitter_fixed

Tailsitter doing nice transition
parents 720a699a 0ffcd013
......@@ -491,7 +491,7 @@
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<alpha_stall>0.3391428111</alpha_stall>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
......@@ -511,7 +511,7 @@
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<alpha_stall>0.3391428111</alpha_stall>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
......@@ -531,7 +531,7 @@
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<alpha_stall>0.3391428111</alpha_stall>
<alpha_stall>0.7391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
......
......@@ -156,7 +156,7 @@ void GazeboMotorModel::UpdateForcesAndMoments() {
// XXX this has to be modelled better
math::Vector3 body_velocity = link_->GetWorldLinearVel();
double vel = body_velocity.GetLength();
double scalar = 1 - vel / 50.0; // at 50 m/s the rotor will not produce any force anymore
double scalar = 1 - vel / 25.0; // at 50 m/s the rotor will not produce any force anymore
scalar = math::clamp(scalar, 0.0, 1.0);
// Apply a force to the link.
link_->AddRelativeForce(math::Vector3(0, 0, force * scalar));
......
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