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Align equations to paper - #133
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Rename thrust_time_coef to thrust_dyn_coef, since it is a rate and no longer a time constant.
amacati
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amacati
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Two comments that we should discuss, otherwise looks good
| where \({}^{\mathcal{B}}\mathbf{f}_\mathrm{t}\) and \({}^{\mathcal{B}}\mathbf{f}_\mathrm{a}\) are | ||
| the thrust and aerodynamic drag force, \({}^{\mathcal{B}}\mathbf{t}_\mathrm{t}\), | ||
| \({}^{\mathcal{B}}\mathbf{t}_\mathrm{d}\), \({}^{\mathcal{B}}\mathbf{t}_\mathrm{g}\), and | ||
| \({}^{\mathcal{B}}\mathbf{t}_\mathrm{r}\) are the thrust, drag, gyroscopic, and reaction torque, | ||
| \(\mathbf{e}_\mathrm{z}\) is the unit vector in z direction, \(\mathbf{C}_\mathrm{a}\) is the | ||
| body-frame drag matrix, \(l\) is the distance of the motors to the body axes, \(\mathbf{M}\) is | ||
| the \(3\times 4\) mixing matrix, \(J_\mathrm{p}\) is the combined inertia of one propeller and its | ||
| motor, and \(\mathbf{f}_\mathrm{m}\), \(\mathbf{t}_\mathrm{m}\), and \(\boldsymbol{\Omega}\) stack | ||
| the four motor thrusts, torques, and rotor speeds. The gyroscopic and reaction torques convert | ||
| \(\boldsymbol{\Omega}\) and \(\dot{\boldsymbol{\Omega}}\) to rad/s internally, so \(J_\mathrm{p}\) | ||
| is in SI units. |
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Should we have a single table explaining everything and then omit this for every function? It's otherwise very cluttered. We could link to it on the bottom of all equations
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I agree. We should link to the paper for the full explanation and explain the symbols more compactly in tables. I will work on this
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Can't we have a single, unified table for all equations, and then just link to that one table in all equations? |
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I think this would be overwhelming. It is already a lot and if I open the so_rpy equations, I don't care about rotor velocities or their dynamics parameters. Imo, every equations should be self-contained. Looking at the rendered docs, I'm not bothered by the table, since they come after the equations, but if I need to, I can look individual parameters up |
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Final question before we merge this: does it break anything on the experiments side? |
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In |
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Okay, noted. Then let's merge this. Thanks! |
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The equations were outdated, so I've updated them to be identical to the paper. One major change that emerged due to that is the renaming and redefinition of the
thrust_time_coeftothrust_dyn_coef, which is the reciprocal of the old value. This will break applications using it (e.g., the MPCs in drone racing), but is needed to align with the paper.I've also added a link in the docs to the equations, since personally, I would not look for them in the API.