From c00601ade87648683a8f1e65cc36f7891db29325 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim <jalim@ethz.ch> Date: Sat, 20 Aug 2022 16:28:45 +0200 Subject: [PATCH 1/2] Increase control authority of boats --- models/boat/boat.sdf.jinja | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/models/boat/boat.sdf.jinja b/models/boat/boat.sdf.jinja index 92db9f5f64..cb33d59419 100644 --- a/models/boat/boat.sdf.jinja +++ b/models/boat/boat.sdf.jinja @@ -489,7 +489,7 @@ <timeConstantUp>0.0125</timeConstantUp> <timeConstantDown>0.025</timeConstantDown> <maxRotVelocity>1100</maxRotVelocity> - <motorConstant>8.54858e-03</motorConstant> + <motorConstant>8.54858e-02</motorConstant> <momentConstant>0.01</momentConstant> <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic> <motorNumber>0</motorNumber> @@ -506,7 +506,7 @@ <timeConstantUp>0.0125</timeConstantUp> <timeConstantDown>0.025</timeConstantDown> <maxRotVelocity>1100</maxRotVelocity> - <motorConstant>8.54858e-03</motorConstant> + <motorConstant>8.54858e-02</motorConstant> <momentConstant>0.01</momentConstant> <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic> <motorNumber>1</motorNumber> From 0ba0f34bce31970502dfedcc1601c9ff114ebd6e Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim <jalim@ethz.ch> Date: Sun, 21 Aug 2022 15:29:16 +0200 Subject: [PATCH 2/2] More directional stability on the dynamics --- models/boat/boat.sdf.jinja | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/models/boat/boat.sdf.jinja b/models/boat/boat.sdf.jinja index cb33d59419..c58f65fe55 100644 --- a/models/boat/boat.sdf.jinja +++ b/models/boat/boat.sdf.jinja @@ -524,7 +524,7 @@ <nDotR>0.0</nDotR> <xU>51.3</xU> <xUU>72.4</xUU> - <yV>40.0</yV> + <yV>102.6</yV> <yVV>0.0</yVV> <zW>500.0</zW> <kP>50.0</kP>