init_heli_day2.m

% FOR HELICOPTER NR 3-10
% This file contains the initialization for the helicopter assignment in
% the course TTK4115. Run this file before you execute QuaRC_ -> Build 
% to build the file heli_q8.mdl.

% Oppdatert høsten 2006 av Jostein Bakkeheim
% Oppdatert høsten 2008 av Arnfinn Aas Eielsen
% Oppdatert høsten 2009 av Jonathan Ronen
% Updated fall 2010, Dominik Breu
% Updated fall 2013, Mark Haring
% Updated spring 2015, Mark Haring


%%%%%%%%%%% Calibration of the encoder and the hardware for the specific
%%%%%%%%%%% helicopter
Joystick_gain_x = 1;
Joystick_gain_y = 1;


%%%%%%%%%%% Physical constants
g = 9.81; % gravitational constant [m/s^2]
l_c = 0.46; % distance elevation axis to counterweight [m]
l_h = 0.66; % distance elevation axis to helicopter head [m]
l_p = 0.175; % distance pitch axis to motor [m]
m_c = 1.92; % Counterweight mass [kg]
m_p = 0.72; % Motor mass [kg]

V_s0 = 8;
K_f = 0.125; 
K_1 = (K_f)/(2*m_p*l_p);
K_2 = (K_f*l_h)/(m_c*l_c^2+2*m_p*l_h^2);
K_3 = (K_f*l_h*V_s0)/(m_c*l_c^2+2*m_p*(l_h^2+l_p^2));


%%%%%%%%%%% Pitch regulator constants
K_pd = 4;
K_pp = 8;