Gazebo: tune BlueBoat thruster multiplier

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Nov 10, 2023 · f65354e · f65354e
1 parent 8d6a5dc
commit f65354e
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Showing 2 changed files with 20 additions and 2 deletions.
diff --git a/Gazebo/models/blueboat/model.config b/Gazebo/models/blueboat/model.config
@@ -15,5 +15,23 @@
 
     3D Models retrieved from:
     https://cad.bluerobotics.com/BLUEBOAT_120_BR-101447_RevA_PUB.zip
+
+    Properties
+
+    Max speed (unloaded): 3 m/s
+      - Set thrust multiplier to 70 in ArduPilotPlugin (+/- 35 N)
+
+    ArduPilot
+
+    Vehicle type:     Rover
+    Frame type:       rover-skid
+
+    ArduPilot Parameters
+
+    CRUISE_SPEED      2.0
+    CRUISE_THROTTLE   50.0
+    FRAME_CLASS       2.0
+    WP_SPEED          2.0
+
   </description>
 </model>
diff --git a/Gazebo/models/blueboat/model.sdf b/Gazebo/models/blueboat/model.sdf
@@ -411,7 +411,7 @@
       -->
       <control channel="0">
         <jointName>motor_port_joint</jointName>
-        <multiplier>10</multiplier>
+        <multiplier>70</multiplier>
         <offset>-0.5</offset>
         <servo_min>1000</servo_min>
         <servo_max>2000</servo_max>
@@ -428,7 +428,7 @@
       -->
       <control channel="2">
         <jointName>motor_stbd_joint</jointName>
-        <multiplier>10</multiplier>
+        <multiplier>70</multiplier>
         <offset>-0.5</offset>
         <servo_min>1000</servo_min>
         <servo_max>2000</servo_max>