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This commit is contained in:
Oleg Kalachev
2023-05-24 10:56:59 +03:00
parent 87c75842f9
commit 82276ddb92
6 changed files with 11 additions and 42 deletions
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17
gazebo/MPU9250.h
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@@ -1,17 +0,0 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// Distributed under the MIT License (https://opensource.org/licenses/MIT)
// Mocks of some MPU9250 library functions
#pragma once
class MPU9250 {
public:
float getAccelBiasX_mss() { return 0; }
float getAccelBiasY_mss() { return 0; }
float getAccelBiasZ_mss() { return 0; }
float getGyroBiasX_rads() { return 0; }
float getGyroBiasY_rads() { return 0; }
float getGyroBiasZ_rads() { return 0; }
};

5
gazebo/flix.cpp
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@@ -140,11 +140,6 @@ public:
const double maxThrust = 0.03 * ONE_G; // 30 g, https://www.youtube.com/watch?v=VtKI4Pjx8Sk
// 65 mm prop ~40 g
// std::cout << "fr: " << motors[MOTOR_FRONT_RIGHT]
// << " fl: " << motors[MOTOR_FRONT_LEFT]
// << " rr: " << motors[MOTOR_REAR_RIGHT]
// << " rl: " << motors[MOTOR_REAR_LEFT] << std::endl;
const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05;
const float minThrustRel = 0;