Specify the model's air drag

[kubark42]

Is there an easy way to set a parameter for air drag? I notice that a weak yawing command (0.05) will continue to accelerate the vehicle's spin rate beyond what seems physically reasonable.

[simondlevy]

To do something like that you're gonna have to add code.

[kubark42]

Gotcha. Any chance you could give a pointer to where to start? Assume that the reader has no familiarity with V-REP beyond running PyQuadSim. ;)

I'd chose a simple viscous drag model. It doesn't make sense to me to go beyond a first order T_drag_i = beta_i * omega_i, where i is the i-th axis.

[simondlevy]

I'd look a t the code in

https://github.com/simondlevy/PyQuadSim/blob/master/pyquadsim_server.py

specifically, the code that computes forces and torques. I'm not a physicist or engineer and so couldn't help beyond that.