How to change the parameters in the Quadrotor Plant for a different UAV mass?
4 views (last 30 days)
Show older comments
Hi,
I have not had any success in trying to figure out what parameters to chose for a higher quadcopter mass in the quadrotor plant block. After many tries, the quadrotor simply does not take off with different parameters. I would appreciate any ideas on how to calculate the PD gains for a different mass. Thank you!
0 Comments
Accepted Answer
Jianxin Sun
on 7 Nov 2022
Hi,
Instead of changing the PD gains on the block, you should increase the commanded thrust to drive a heavier UAV. For example, in order to be able the take-off, the commanded thrust should be higher than the gravity force. So if your mass is 1 and gravity acceleration is 9.8 then the commanded thrust should be higher than 9.8.
Jianxin
9 Comments
Dennis
on 15 Apr 2023
I am also trying UAVpackageDelivery, I modified the GCS path but the path is too long, so I hope I can increase the speed from 3m/s. Should I also add Gain in thrust? Or to which part?
Thanks.
Kind Regards,
Dennis
Dennis
on 15 Apr 2023
If I increase the speed gain, the drone won't land properly at the land point.
More Answers (1)
See Also
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!