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Fix #2090 (#2122)

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* Add drag to gazebo ardrone model

Simple linear drag with guessed coefficient, not super accurate
but better than no drag at all...

* Fix #2090

Set accelerometer sensor bounds to correct values.
This commit is contained in:
Tom van Dijk
2017-10-19 13:59:38 +00:00
committed by Gautier Hattenberger
parent 93a9608c3b
commit 5a985ef691
2 changed files with 7 additions and 2 deletions
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conf/simulator/gazebo/models/ardrone/ardrone.sdf
+5
View File
@@ -4,6 +4,11 @@
<pose>0 0 .1 0 0 0</pose>
<link name="chassis">
<velocity_decay>
<linear>0.001</linear>
</velocity_decay>
<inertial><!-- Taken from Paparazzi's ARDrone model for JSBsim -->
<mass>0.4</mass>
<inertia>
conf/simulator/nps/nps_sensors_params_ardrone2.h
+2 -2
View File
@@ -34,8 +34,8 @@
* Accelerometer
*/
/* navdata has 12 bit resolution */
#define NPS_ACCEL_MIN -2047
#define NPS_ACCEL_MAX 2047
#define NPS_ACCEL_MIN 0
#define NPS_ACCEL_MAX 4095
/* ms-2 */
/* aka 2^10/ACCEL_X_SENS */
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)