controlParams.m

%% Controller related Parameters
% Controls
par.freq = 500; % control frequency

%
%   (1)<-- b -->(2)
%      \       / ^
%       \     /  |
%       /     \  | l
%      /       \ v
%   (4)         (3)

par.fail_id = [3];      % index of the failured propeller
par.DRF_enable = 1;     % failure of two diagonal rotors?
par.fail_time = 0.0;    % moment failiure occurs

% drone parameters
par.b = 0.1150;     % [m]
par.l = 0.0875;
par.Ix = 0.0014;    % [kg m^2]
par.Iy = 0.0013;
par.Iz = 0.0025;
par.mass = 0.375;   % [kg]
par.g = 9.81;

par.k0 = 1.9e-6;    % propeller thrust coefficient
par.t0 = 1.9e-8;    % torque coefficient
par.w_max = 1200;   % max / min propeller rotation rates, [rad/s]
par.w_min = 0;

%% INDI reduced att control
par.chi = 105;          % output scheduling parameter, [deg].
par.pos_z_p_gain = 10;   % altitude control pd gains
par.pos_z_d_gain = 6;
par.axis_tilt = 0.0;    % primary axis tilting param, 0 ~ 0.2,  
                        % must be 0 for double rotor failure cases

par.att_p_gain = 200;   % attitude control pd gains 
par.att_d_gain = 30;
par.t_indi = 0.02;      % low-pass filter time constant, [s]

% Yaw control
par.YRC_Kp_r = 5.0;
par.YRC_Kp_psi = 5.0;

% position control
par.position_maxAngle = 10/57.3;    % maximum thrust tilt angle [rad]  
par.position_Kp_pos = [1.0, 1.0, par.pos_z_p_gain];  % position control gains
par.position_maxVel = 10;           % maximum velocity
par.position_intLim = 5.0; 
par.position_Ki_vel = [0.0, 0.0, 0.0];  % velocity gains
par.position_Kp_vel = [2.0, 2.0, par.pos_z_d_gain];