Added otter inertia and damping matrices

vortexntnu · Apr 7, 2024 · 99652ee · 99652ee
1 parent 6d55557
commit 99652ee
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/asv_setup/config/robots/freya.yaml b/asv_setup/config/robots/freya.yaml
@@ -21,8 +21,8 @@
       buoyancy: 0   # kg
       center_of_mass: [0, 0, 0]        # mm (x,y,z)
       center_of_buoyancy: [0, 0, 0]   # mm (x,y,z)
-      inertia_matrix_diag: [50.0, 50.0, 50.0] # kg
-      damping_matrix_diag: [10.0, 10.0, 5.0]
+      inertia_matrix: [90.5, 0, 0, 0, 167.5, 12.25, 0, 12.25, 42.65] # from otter
+      damping_matrix_diag: [77.55, 162.5, 42.65] # from otter
 
 
     propulsion: