28 Nov

Changing the state variable

Wei Dong

Last week, we reviewed the current state setup of the linearization script. Since the derivative of the total thrust cannot be calculated from the definition of the derivative, the total thrust should not be in the state. The error comes from misunderstanding of one of the equatoins of the original paper. The derivative of the current thrust should be calculated form the difference of the command thrust and current thrust divided by the time constant of the motor (dependent on the motor choice).

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