UBot Multirotor Airframe

C++

FUBotMultirotorAirframe

模块

UBotAerial · UBotAerial 0.1.0

节点

Break · Make

头文件

Source/UBotAerial/Public/UBotAerialTypes.h

多旋翼的质量、转动惯量、旋翼和阻力。默认是一架 1.5 kg、轴距 450 mm 的四旋翼 X。

字段

字段	类型	蓝图	说明
Mass KilogramsMassKilograms	Float (double)	读写	质量，单位 kg。默认 1.5 kg。
Inertia Kilogram Square MetersInertiaKilogramSquareMeters	Vector	读写	绕机体 X、Y、Z 轴的主转动惯量，单位 kg·m²。默认 (0.029, 0.029, 0.055)。
RotorsRotors	UBot Rotor Spec结构体数组	读写	旋翼列表，按电机顺序排列，电机指令使用同样的顺序。
Linear Drag CoefficientsLinearDragCoefficients	Vector	读写	沿机体各轴的线性阻力系数，单位 N/(m/s)，速度是相对空气的速度。默认 (0.25, 0.25, 0.30)。
Quadratic Drag CoefficientsQuadraticDragCoefficients	Vector	读写	沿机体各轴的平方阻力系数，单位 N/(m/s)²，速度是相对空气的速度。默认 (0.03, 0.03, 0.05)。
Angular Drag CoefficientsAngularDragCoefficients	Vector	读写	绕机体各轴的旋转阻力系数，单位 N·m/(rad/s)。默认 (0.003, 0.003, 0.005)。
Motor Command MappingMotorCommandMapping	EUBot Motor Command Mapping枚举	读写	归一化电机指令到旋翼转速的映射方式。

节点

Break UBot Multirotor Airframe

Break UBot Multirotor AirframeUBot Multirotor AirframeMass KilogramsInertia Kilogram Square MetersRotorsLinear Drag CoefficientsQuadratic Drag CoefficientsAngular Drag CoefficientsMotor Command Mapping▴

拆分结构体 · Break:FUBotMultirotorAirframe

把 UBot Multirotor Airframe 拆成质量、转动惯量、旋翼、三组阻力系数和电机指令映射。

引脚	方向	类型	说明
UBot Multirotor Airframe	输入	UBot Multirotor Airframe结构体
Mass Kilograms	输出	Float (double)	Mass, kg.
Inertia Kilogram Square Meters	输出	Vector	Principal moments of inertia about the body X, Y and Z axes, kg·m².
Rotors高级	输出	UBot Rotor Spec结构体数组	The rotors, in motor order (motor commands use this order).
Linear Drag Coefficients高级	输出	Vector	Linear drag along the body axes, N per m/s of air-relative speed.
Quadratic Drag Coefficients高级	输出	Vector	Quadratic drag along the body axes, N per (m/s)² of air-relative speed.
Angular Drag Coefficients高级	输出	Vector	Rotational drag about the body axes, N·m per rad/s.
Motor Command Mapping高级	输出	EUBot Motor Command Mapping枚举	How a normalized motor command maps to rotor speed.

Make UBot Multirotor Airframe

Make UBot Multirotor AirframeMass Kilograms1.5Inertia Kilogram Square Meters0.029, 0.029, 0.055RotorsLinear Drag Coefficients0.25, 0.25, 0.3Quadratic Drag Coefficients0.03, 0.03, 0.05Angular Drag Coefficients0.003, 0.003, 0.005Motor Command MappingThrustUBot Multirotor Airframe▴

构造结构体 · Make:FUBotMultirotorAirframe

用各字段组装一个 UBot Multirotor Airframe。

引脚	方向	类型	默认值	说明
Mass Kilograms	输入	Float (double)	1.5	Mass, kg.
Inertia Kilogram Square Meters	输入	Vector	0.029000,0.029000,0.055000	Principal moments of inertia about the body X, Y and Z axes, kg·m².
Rotors高级	输入	UBot Rotor Spec结构体数组		The rotors, in motor order (motor commands use this order).
Linear Drag Coefficients高级	输入	Vector	0.250000,0.250000,0.300000	Linear drag along the body axes, N per m/s of air-relative speed.
Quadratic Drag Coefficients高级	输入	Vector	0.030000,0.030000,0.050000	Quadratic drag along the body axes, N per (m/s)² of air-relative speed.
Angular Drag Coefficients高级	输入	Vector	0.003000,0.003000,0.005000	Rotational drag about the body axes, N·m per rad/s.
Motor Command Mapping高级	输入	EUBot Motor Command Mapping枚举	Thrust	How a normalized motor command maps to rotor speed.
UBot Multirotor Airframe	输出	UBot Multirotor Airframe结构体