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The 'a0' in LiftDragPlugin does not obey the aerodynamics habbits. #116

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petertheprocess opened this issue Aug 24, 2020 · 0 comments
Open

The 'a0' in LiftDragPlugin does not obey the aerodynamics habbits. #116

petertheprocess opened this issue Aug 24, 2020 · 0 comments

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@petertheprocess
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https://github.com/osrf/gazebo/blob/a9f093f2fc7fa7fc49efa73719f6536ad28f8af7/plugins/LiftDragPlugin.cc#L254-L255
https://github.com/osrf/gazebo/blob/a9f093f2fc7fa7fc49efa73719f6536ad28f8af7/plugins/LiftDragPlugin.cc#L272-L274
For people who know aerodynamics, 'a0' can be easily misunderstood as 'Zero-Lift AOA' which is just the opposite number of present definition.
So I suggest changing the code like this.

this->alpha =  acos(cosAlpha) - this->alpha0;

And we should update the tutorial of the plugin.

gazebosim/gazebo-classic#2831 (comment)
PX4/PX4-SITL_gazebo-classic#586 (comment)
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