[Gimbalrotor] modified motor profile

robots/gimbalrotor/config/MotorInfo.yaml

@@ -1,32 +1,45 @@
 motor_info:
-        min_pwm: 0.59 # 1180 [ms]
-        max_pwm: 0.9375 # 1875 [ms]
-        min_thrust: 1.0 #  [N]
-        force_landing_thrust: 6.5 #[N]
-        m_f_rate: -0.0172
-        pwm_conversion_mode: 0 # SQRT Mode
+        min_pwm: 0.58 # = 1800 [ms]
+        max_pwm: 0.92 #0.92 # = 1840 [ms]             
+        min_thrust: 0 #[N]
+        force_landing_thrust: 7 #[N]
+        m_f_rate: 0 # should be zero, because of the dual rotor
+        pwm_conversion_mode: 1 # Polynominal Mode
         vel_ref_num: 4
-        ref1:
+
+        ref1:        
                 voltage: 25.2
-                max_thrust: 20 # N 
-                polynominal2: 0.07983707 # x10
-                polynominal1: -6.627443098 # x10
-                polynominal0: 12.3593793002 # x1
+                max_thrust: 24.26 #20.26
+                polynominal4: 2.539831 # x 10^4
+                polynominal3: -15.430486 # x10^3
+                polynominal2: 26.10449153 # x10^2
+                polynominal1: 8.542191758 # x10
+                polynominal0: 53.26142529 # x1
         ref2:
                 voltage: 24.2
-                max_thrust: 19 # N 
-                polynominal2: 0.078085358 # x10
-                polynominal1: -6.641338225 # x10
-                polynominal0: 12.9797798522 # x1
-        ref3:
+                max_thrust: 22.07 #18.07
+                polynominal4: 4.471272 # x 10^4
+                polynominal3: -22.8613135 # x10^3
+                polynominal2: 34.52944303 # x10^2
+                polynominal1: 6.990587655 # x10
+                polynominal0: 53.55660546 # x1
+        ref3:        
                 voltage: 23.2
-                max_thrust: 18 # N 
-                polynominal2: 0.074527175 # x10
-                polynominal1: -6.440853637 # x10
-                polynominal0: 12.9565178437 # x1
-        ref4:
+                max_thrust: 21.35 #17.35
+                polynominal4: 3.89786 # x 10^4
+                polynominal3: -21.7499721 # x10^3
+                polynominal2: 33.08787072 # x10^2
+                polynominal1: 10.11759403 # x10
+                polynominal0: 53.3154616 # x1
+        ref4:        
                 voltage: 22.2
-                max_thrust: 16.8 # N 
-                polynominal2: 0.071758366 # x10
-                polynominal1: -6.346135548 # x10
-                polynominal0: 13.2669467083 # x1
+                max_thrust: 19.91 #15.91
+                polynominal4: 2.940051 # x 10^4
+                polynominal3: -19.6361097 # x10^3
+                polynominal2: 30.85354129 # x10^2
+                polynominal1: 13.24809567 # x10
+                polynominal0: 53.05019009 # x1
+
+        # for simualtion
+        rotor_damping_rate: 0.1 # = 0.001 / (0.01 + 0.001); 0.01: time constant; 0.001: dt
+        rotor_force_noise: 0.01 # [N] but good performance in gazebo