wip

Cargo.toml

@@ -40,7 +40,7 @@ rayon = "1.10.0"
 rand_chacha = "0.3.1"
 tokio = { version = "1.41.0", features = ["full"] }
 binrw = "0.14.1"
-cyber_rc = { git = "https://github.com/friend0/CyberRC.git" }
+cyber_rc = { git = "https://github.com/friend0/CyberRC.git", rev = "2d842110d6e0" }
 serialport = "4.6.0"
 tempfile = "3.14.0"
 prost = "0.13.3"

config/liftoff_quad.yaml

@@ -1,4 +1,4 @@
-use_rerun: true # Enable visualization using rerun.io
+use_rerun: false # Enable visualization using rerun.io
 render_depth: true # Enable rendering depth
 use_multithreading_depth_rendering: true # Enable multithreading for depth rendering for large resolution (above 32x24)
 real_time: true # Enable real time mode. If not enabled, sim will run in fast time.
@@ -23,7 +23,7 @@ quadrotor:
   max_thrust_kg: .5
   arm_length_m: .065
   yaw_torque_constant: .0052
-  serial_port: null
+  serial_port: "/dev/tty.usbserial-B001JE6N"
 
 pid_controller:
   pos_gains: # PID gains for position control

src/config.rs

@@ -122,14 +122,6 @@ impl QuadrotorConfig {
                 "Failed to invert inertia matrix".to_string(),
             ))?)
     }
-
-    /// Calculate all maximum torques and return them as a tuple
-    pub fn max_torques(&self) -> (f32, f32, f32) {
-        let motor_thrust = self.max_thrust_kg / 4.0;
-        let max_rp_torque = 2.0 * self.arm_length_m * motor_thrust;
-        let yaw_torque = 2.0 * self.yaw_torque_constant * motor_thrust;
-        (max_rp_torque, max_rp_torque, yaw_torque)
-    }
 }
 
 #[derive(Clone, Debug, serde::Deserialize)]

src/lib.rs

@@ -46,7 +46,7 @@ use rand::SeedableRng;
 use rayon::prelude::*;
 pub mod config;
 pub mod quadrotor;
-use nalgebra::{Matrix3, Quaternion, Rotation3, SMatrix, UnitQuaternion, Vector3};
+use nalgebra::{Matrix3, Quaternion, Rotation3, SMatrix, UnitQuaternion, Vector, Vector3};
 use quadrotor::{QuadrotorInterface, QuadrotorState};
 use rand_chacha::ChaCha8Rng;
 use rand_distr::{Distribution, Normal};
@@ -143,6 +143,7 @@ impl QuadrotorInterface for Quadrotor {
         }
         Ok(())
     }
+
     fn observe(&mut self) -> Result<QuadrotorState, SimulationError> {
         return Ok(QuadrotorState {
             position: self.position,
@@ -153,6 +154,18 @@ impl QuadrotorInterface for Quadrotor {
         });
     }
 
+    fn max_thrust(&self) -> f32 {
+        2.5 * self.gravity
+    }
+
+    // TDO: need a method to retrieve quadrotor physical constants
+    fn max_torque(&self) -> Vector3<f32> {
+        let motor_thrust = self.max_thrust() / 4.0;
+        let max_rp_torque = 2.0 * 0.65 * motor_thrust;
+        let yaw_torque = 2.0 * 0.005 * motor_thrust;
+        Vector3::new(max_rp_torque, max_rp_torque, yaw_torque)
+    }
+
     //TODO: replace this method in main with observe
     /// Simulates IMU readings
     /// # Returns