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- WeightInG: Self explanatory, the weight in kilogram (not gram!)
- Gravity: Self explanatory
- DistanceRotorMiddle: The distance from the middle of the rotors to the mass centre of the copter
- DegToRad: A helping constant to convert angles from Degrees to Radians
- RPM: The revolutions per minute per Volt of the Motors
- InertiaAA: The rotational inertias around the different axes. I have based these on the work of Luukkonen, who himself based these on the work of Tayebi and McGilvray (http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1430207&tag=1)
- InertiaA: The movement inertias of the copter. In contrast to the rotational inertia, these inertias are about the movement, not the rotation of the copter (well, duh...). Same as the above
- InertiaRotation: This is (as far as I know!) the inertia of the rotors. These are also based on the same works
- DragConstant: This is a constant of the rotors. It describes the drag produced by turning a rotor. It depends on the density of the air, the radius of the blades, their shape and pitch angle, and more. More on the drag constant can be read on wikipedia: https://en.wikipedia.org/wiki/Drag_coefficient
- LiftCoefficient: Same as the above, but is about the lift produced by a rotor. More can be read on wikipedia: https://en.wikipedia.org/wiki/Lift_coefficient
- Both of these are again based on the works mentioned above
- Motors: These are only needed, if you don't use the provided Java program. They set the motors to a value.
- Yaw/Pitch/Roll: For debugging purposes - Can be changed so you can start with different angles
- Walls: Simulate the room the copter is in. Distances to the walls from the center in meters
- Scalings: Different variables to scale the values from the simulation to fit the values the gyroscope of the copter
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