Changes¶
- Add thrust and torque coefficient (Cf, Ct) parameters to the motor.
- Add a quadratic drag torque to the motor model (#367)
- Update default motor parameter to better match the Roxxy 2827-35
- Add a helper function computing the allocation matrix and inertia matrix (#367)
- Add propeller imbalance forces, to simulate vibrations
- Compute IMU noise in body frame rather than world frame
Download¶
libmrsim-1.4.tar.gz
Changes¶
- Fix wrong computation of the maximum spinning period in mrsim_motor_control()
- Add the possibility to invert a propeller spinning direction (#336)
- Make the maximum current tunable
Download¶
libmrsim-1.3.tar.gz
Changes¶
- Send IMU data according to the resolution of the chimera-1.1 hardware
Download¶
libmrsim-1.2.tar.gz