move hany drone params to configs/dynamics

configs/dynamics/quadcopter_hany/README.md

@@ -0,0 +1,5 @@
+# Hany Quadcopter
+
+| | |
+|-|-|
+| <img src="https://docs.raccoonlab.co/assets/img/airframe.686280a7.png" alt="drawing" width="466"/> | <img src="https://docs.raccoonlab.co/assets/img/view.8746517f.png" alt="drawing" width="333"/> |

configs/dynamics/quadcopter_hany/params.yaml

@@ -0,0 +1,29 @@
+# Small Quadcopter Configuration
+# This configuration defines the dynamics properties for a small quadcopter
+# based on the RaccoonLab Cyphal/DroneCAN Quadcopter KIT. It is designed for
+# use with the PX4 autopilot system.
+
+vehicle_mass :              1.5       # kg
+motor_time_constant:        0.02      # sec
+motor_rotational_inertia:   6.62e-6   # kg m^2
+thrust_coefficient:         1.91e-6   # N/(rad/s)^2"
+torque_coefficient:         2.6e-7    # Nm/(rad/s)^2
+drag_coefficient:           0.1       # N/(m/s)
+aeromoment_coefficient_xx:  0.003     # Nm/(rad/s)^2
+aeromoment_coefficient_yy:  0.003     # Nm/(rad/s)^2
+aeromoment_coefficient_zz:  0.003     # Nm/(rad/s)^2
+vehicle_inertia_xx:         0.0100    #
+vehicle_inertia_yy:         0.0100    #
+vehicle_inertia_zz:         0.0150    #
+max_prop_speed:             2200      # rad/s
+moment_process_noise:       1.25e-7   # (Nm)^2 s
+force_process_noise:        0.0005    # N^2 s"
+
+moment_arm:                 0.08      # m
+
+accelerometer_biasprocess:  0.0       # m^2/s^5, 1.0e-7
+gyroscope_biasprocess:      0.0       # rad^2/s^3, 1.0e-7
+accelerometer_biasinitvar:  0.00001   # (m/s^2)^2, 0.005
+gyroscope_biasinitvar:      0.00001   # (rad/s)^2, 0.003
+accelerometer_variance:     0.0001    # m^2/s^4, 0.001
+gyroscope_variance:         0.00001   # rad^2/s^2, 0.001

scripts/run_sim.sh

@@ -107,7 +107,7 @@ px4_v1_15_0_dronecan_quadrotor() {
     roslaunch innopolis_vtol_dynamics hitl.launch   \
         run_dronecan_communicator:=true             \
         logging_type:=quadcopter                    \
-        vehicle_params:=$VEHICLE_PARAMS_DIR/quadrotor/params.yaml \
+        vehicle_params:=$DYNAMICS_CONFIGS_DIR/quadcopter_hany/params.yaml \
         mixer:=direct_mixer                         \
         dynamics:=quadcopter
 }
@@ -131,7 +131,7 @@ px4_v1_15_0_cyphal_quadcopter() {
     roslaunch innopolis_vtol_dynamics hitl.launch   \
         run_cyphal_communicator:=true               \
         logging_type:=quadcopter                    \
-        vehicle_params:=$VEHICLE_PARAMS_DIR/quadrotor/params.yaml \
+        vehicle_params:=$DYNAMICS_CONFIGS_DIR/quadcopter_hany/params.yaml \
         mixer:=direct_mixer                         \
         dynamics:=quadcopter
 }