How to change the parameters in the Quadrotor Plant for a different UAV mass?
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Tudor-Stefan Tonca
le 4 Nov 2022
Commenté : Dennis
le 15 Avr 2023
Hi,
I have not had any success in trying to figure out what parameters to chose for a higher quadcopter mass in the quadrotor plant block. After many tries, the quadrotor simply does not take off with different parameters. I would appreciate any ideas on how to calculate the PD gains for a different mass. Thank you!
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Jianxin Sun
le 7 Nov 2022
Hi,
Instead of changing the PD gains on the block, you should increase the commanded thrust to drive a heavier UAV. For example, in order to be able the take-off, the commanded thrust should be higher than the gravity force. So if your mass is 1 and gravity acceleration is 9.8 then the commanded thrust should be higher than 9.8.
Jianxin
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Dennis
le 15 Avr 2023
I am also trying UAVpackageDelivery, I modified the GCS path but the path is too long, so I hope I can increase the speed from 3m/s. Should I also add Gain in thrust? Or to which part?
Thanks.
Kind Regards,
Dennis
Dennis
le 15 Avr 2023
If I increase the speed gain, the drone won't land properly at the land point.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1357108/image.jpeg)
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