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Re: [Paparazzi-devel] Bug in rotorcraft thrust coefficient estimation


From: Hector Garcia de Marina
Subject: Re: [Paparazzi-devel] Bug in rotorcraft thrust coefficient estimation
Date: Thu, 22 Oct 2015 15:30:25 +0200

Not necessarily Alonso, for small angles (in radians), the cos(x) is almost equal to x.

For 30*pi/180 rads = 0.52 , the cosine is 0.86. 

If you are not doing acrobatics, this bug should not be very critical.

On Thu, Oct 22, 2015 at 3:21 PM, alonso acuña <address@hidden> wrote:

Helo. Was there any noticeable misbehaviour of the aircraft due to this bug?

On Oct 16, 2015 3:24 PM, "Gautier Hattenberger" <address@hidden> wrote:
Hi,

It looks like you're right, it should be fixed in master now.

Gautier

Le 16/10/2015 22:56, Sreenath Dama a écrit :
Hi,

   In the function "get_vertical_thrust_coef"  defined in "rotorcraft/guidance/guidance_v.c " . 30 deg has been compared with the last entry of rotation matrix att->m[8]. But last entry[i.e 9th entry] in the rotation matrix is Cos(X), where X is the angle between the gravity vector and thrust vector. 
   Is last entry of rotation matrix is intended to compare wth cos(30deg) instead of 30deg ? 

Thanks, 
srinath  




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Héctor
Webpage: http://mathtronics.wordpress.com/


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