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This module estimates the vehicle mass and inertia matrix. It uses a least mean square algorithm between delayed, low pass filtered, and time differentiated setpoints (thrust and torque, respectively), and low pass filtered and time differentiated accelerations (linear and angular, respectively).
7 lines
177 B
Plaintext
7 lines
177 B
Plaintext
# Vehicle model, mass and inertia matrix
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uint64 timestamp # time since system start (microseconds)
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float32 mass # vehicle mass
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float32[9] inertia # vehicle inertia matrix
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