29 lines
767 B
TOML
29 lines
767 B
TOML
[body]
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mass = 1.3
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arm_length = 0.23
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Ixx = 0.0075
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Iyy = 0.0075
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Izz = 0.013
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[rotor]
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# T_i = kf * omega_i^2; 悬停标定: kf = m*g / (4 * omega_hover^2), omega_hover ≈ 550 rad/s
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kf = 1.054e-5
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km = 2.64e-7
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omega_min = 0.0
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omega_max = 838.0
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layout = "x"
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[initial]
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position = [0.0, 0.0, 1.0]
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velocity = [0.0, 0.0, 0.0]
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attitude_euler = [0.0, 0.0, 0.0]
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angular_rate = [0.0, 0.0, 0.0]
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[drag]
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# 平动阻力(世界系): F = -linear * v_rel - 0.5 * rho * cd * area * |v_rel| * v_rel
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# v_rel = 机体速度 - 风速; rho = environment.toml 的 air_density
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linear = 0.0 # 线性阻力系数 N/(m/s)，低速近似，0 则只用二次项
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angular = 0.05 # 角速度阻尼 N·m/(rad/s)
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cd = 0.8 # 气动阻力系数
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area = 0.1 # 等效迎风面积 m^2
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