Dynamic-Models.md

Available Dynamic Models

• [Pacejka Car Model](./pacejka model)
• [Kinematic Car Model](./kinematic model)
• [Parafoil 4-DoF Model](./Parafoil 4 Dof Model)
• [Rocket 6-DoF Model](./Rocket 6 Dof Model)

Configuration

Independent of the selected model, the following generic arguments must be provided Example model_config.yaml

# type describes what type of model we want to use / should be loaded
type: "pacejka_discrete|kinematic_model"

# Q (process noise covariance matrix)
Q:
  value:
    [
      [0.01, 0, 0, 0, 0, 0],
      [0, 0.01, 0, 0, 0, 0],
      [0, 0, 0.01, 0, 0, 0],
      [0, 0, 0, 0.0001, 0, 0],
      [0, 0, 0, 0, 0.0001, 0],
      [0, 0, 0, 0, 0, 0.0001],
    ]
  is_diag: false

model_params:
  # size params
  lr: 0.038
  lf: 0.052

  tau: 0.181

    
<Pacejka Parameters | Kinematic Parameters>