mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-15 10:20:34 +08:00
Daniel Agar
130 lines
3.7 KiB
C
130 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file bottle_drop_params.c
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* Bottle drop parameters
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*
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* @author Dominik Juchli <juchlid@ethz.ch>
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*/
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#include <px4_config.h>
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#include <systemlib/param/param.h>
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/**
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* Ground drag property
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*
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* This parameter encodes the ground drag coefficient and the corresponding
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* decrease in wind speed from the plane altitude to ground altitude.
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*
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* @min 0.001
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* @max 0.1
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* @group Payload drop
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*/
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PARAM_DEFINE_FLOAT(BD_GPROPERTIES, 0.03f);
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/**
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* Plane turn radius
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*
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* The planes known minimal turn radius - use a higher value
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* to make the plane maneuver more distant from the actual drop
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* position. This is to ensure the wings are level during the drop.
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*
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* @unit m
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* @min 30.0
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* @max 500.0
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* @group Payload drop
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*/
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PARAM_DEFINE_FLOAT(BD_TURNRADIUS, 120.0f);
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/**
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* Drop precision
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*
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* If the system is closer than this distance on passing over the
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* drop position, it will release the payload. This is a safeguard
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* to prevent a drop out of the required accuracy.
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*
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* @unit m
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* @min 1.0
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* @max 80.0
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* @group Payload drop
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*/
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PARAM_DEFINE_FLOAT(BD_PRECISION, 30.0f);
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/**
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* Payload drag coefficient of the dropped object
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*
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* The drag coefficient (cd) is the typical drag
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* constant for air. It is in general object specific,
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* but the closest primitive shape to the actual object
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* should give good results:
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* http://en.wikipedia.org/wiki/Drag_coefficient
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*
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* @min 0.08
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* @max 1.5
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* @group Payload drop
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*/
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PARAM_DEFINE_FLOAT(BD_OBJ_CD, 0.1f);
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/**
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* Payload mass
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*
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* A typical small toy ball:
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* 0.025 kg
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*
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* OBC water bottle:
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* 0.6 kg
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*
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* @unit kg
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* @min 0.001
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* @max 5.0
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* @group Payload drop
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*/
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PARAM_DEFINE_FLOAT(BD_OBJ_MASS, 0.6f);
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/**
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* Payload front surface area
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*
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* A typical small toy ball:
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* (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2
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*
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* OBC water bottle:
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* (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2
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*
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* @unit m^2
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* @min 0.001
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* @max 0.5
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* @group Payload drop
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*/
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PARAM_DEFINE_FLOAT(BD_OBJ_SURFACE, 0.00311724531f);
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