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Claudio Chies
76ce06c931
* Quadratic thrust for SIH hexarotor (#67) * sih: add thrust model hexacopter model * fix: add missing line break * sihsim_hey airframe: add THR_MDL_FAC to accomodate for simulated quadratic motor thrust. * fix(sih): fix quadratic model in simulation The square was done in place and the low pass filter also effected the same variable, the result was that for small numbers the low pass filter gain was not enouhg with respect to the decay caused by squaring numbers close to zero. As a result even if you where trying to send 1 xcommands in simulation it would stoip around 0.008. Now the square is done in a different variable, the problem is not there anymore. Tested in simulation --------- Signed-off-by: Gennaro Guidone <gennaroguido2002@gmail.com> Co-authored-by: Matthias Grob <maetugr@gmail.com> Co-authored-by: Gennaro Guidone <gennaroguido2002@gmail.com>