From b7ad7db46e833d904d3aa4a74330cefd8e7fa2b2 Mon Sep 17 00:00:00 2001 From: Ryan Rodriguez Date: Sun, 15 Dec 2024 12:59:01 -0800 Subject: [PATCH] fixup gravity config for peng sim --- config/quad.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/config/quad.yaml b/config/quad.yaml index 504aad9f..d810954a 100644 --- a/config/quad.yaml +++ b/config/quad.yaml @@ -10,13 +10,13 @@ simulation: simulation_frequency: 1000 # Frequency of physics simulation updates (Hz) log_frequency: 20 # Frequency of data logging (Hz) duration: 70.0 # Total duration of the simulation (seconds) + gravity: 9.81 # Gravitational acceleration (m/s^2) use_rk4_for_dynamics_update: false # Enable Runge-Kutta 4th order integration for dynamics, otherwise Euler integration is used use_rk4_for_dynamics_control: false # Enable Runge-Kutta 4th order integration for dynamics, otherwise Euler integration is used quadrotor: type: "Peng" mass: 1.3 # Mass of the quadrotor (kg) - gravity: 9.81 # Gravitational acceleration (m/s^2) drag_coefficient: 0.000 # Aerodynamic drag coefficient # Inertia matrix [Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz] (kg*m^2) inertia_matrix: [3.04e-3, 0.0, 0.0, 0.0, 4.55e-3, 0.0, 0.0, 0.0, 2.82e-3]