/home/usappz/DeadalusSim/source/dependencies/constants.hh

/* -----------------------------------------------------------------------------
 *
 *
 *  ____                   _____     _
 * / ___|  __ _ _ __  _ __|__  /  __| | ___
 * \___ \ / _` | '_ \| '_ \ / /  / _` |/ _ \
 *  ___) | (_| | |_) | |_) / /_ | (_| |  __/
 * |____/ \__,_| .__/| .__/____(_)__,_|\___|
 *             |_|   |_|
 *
 *
 *
 * Author: Andreas Gschossmann
 * Email:  andreas.gschossmann@hs-regensburg.de
 *
 * quadrotor_dynamics.hh - Relationship between rotor-speed or alternatively
 * digital value for brushless drivers and resulting thrust of the motor.
 *
 * -----------------------------------------------------------------------------*/
#ifndef _CONSTANTS_HH_ 
#define _CONSTANTS_HH_

// Aerodynamik
#define EFFICIENCY_CMR                  0.8
#define KT_RR282734_10_45_R             0.00060934      
#define KM_RR282734_10_45_R             0.00011386*EFFICIENCY_CMR  // durch Elektrische Leistung ermittelt: TODO: Drehmoment messen und k_M fitten

// PT-1 element motor
#define K_PT1_RR282734_10_45_R          0.378634164294
#define C_PT1_RR282734_10_45_R          15.1056160953 
#define T_PT1_RR282734_10_45_R          0.0     
#define DEAD_TIME_PT1_RR282734_10_45_R  0.0 

// dimensions quadrotor frame
#define MOMENT_ARM                      0.22    // distance between motor axis and center of frame
                                                // Achtung: muss mit sdf-file abgestimmt werden 

// simulation time
#define SIM_TIME                        0.001   // time for between to simulation steps
                                                // Achtung muss mit sdf-file abgestimmt werden 
//#define KT_RR282734_10_45_R_DIG 0.5
//#define KT_RR282734_10_45_R_DiG 0.5

// Error types for quadrotor_dynamics
#define NO_ERROR        0
#define GAUSSIAN_NOISE  1
#define SINE_ERROR      2

// Symmetric motor order
// (Andi)
#define FRONT           0
#define RIGHT           1
#define REAR            2
#define LEFT            3

#define MOTOR_1         0
#define MOTOR_2         1
#define MOTOR_3         2
#define MOTOR_4         3

#define M1              0
#define M2              1
#define M3              2
#define M4              3

#endif