function

Control.Multirotor.Allocation.rotorEffectiveness

Map individual upward rotor thrusts into collective thrust and body moment

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`positionBodyFlu_m`	`Real`	`[:, 3]`	Rotor centers relative to the center of mass
input	`yawMomentPerThrust_m`	`Real`	`[size(positionBodyFlu_m, 1)]`	Signed reaction-torque ratio; positive produces positive FLU yaw moment
output	`effectiveness`	`Real`	`[4, size(positionBodyFlu_m, 1)]`	Maps rotor thrust into {collective thrust, body moment}

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function rotorEffectiveness
    "Map individual upward rotor thrusts into collective thrust and body moment"
    input Real positionBodyFlu_m[:, 3]
      "Rotor centers relative to the center of mass";
    input Real yawMomentPerThrust_m[size(positionBodyFlu_m, 1)]
      "Signed reaction-torque ratio; positive produces positive FLU yaw moment";
    output Real effectiveness[4, size(positionBodyFlu_m, 1)]
      "Maps rotor thrust into {collective thrust, body moment}";
  algorithm
    for rotor in 1:size(positionBodyFlu_m, 1) loop
      effectiveness[:, rotor] := {
        1.0,
        positionBodyFlu_m[rotor, 2],
        -positionBodyFlu_m[rotor, 1],
        yawMomentPerThrust_m[rotor]};
    end for;
  end rotorEffectiveness;