Increase control authority of boats (PX4#895)

* Increase control authority of boats * More directional stability on the dynamics
lachie-aerialrobotics · Aug 22, 2022 · c93c50e · c93c50e
1 parent 5fdd19a
commit c93c50e
Showing 1 changed file with 3 additions and 3 deletions.
diff --git 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>
@@ -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>