Bitcraze Forums

Hii everyone I have a small question. For my thesis work I am working on a simulink model for some testing and experimenting. Most of the dynamic models I find make use of the following method to determine thrust: T = k*w^2 (thrust equals constant times rpm squared). My question is the following, all papers that I found never mention the value of that constant. Is there maybe someone who has a good guesstimate for it or has some tips?

Thanks in Advance

You can find some approximate models in https://www.research-collection.ethz.ch ... 850/214143 (Chapter 3), https://lup.lub.lu.se/luur/download?fun ... Id=8905299 (Appendix A), and https://arxiv.org/pdf/2012.05457.pdf (Table 1). One challenge is that the Crazyflie controls PWM, which does not directly correlate to RPM. Thus, the overall mapping typically also has some linear and offset terms. Another interesting resource is in an old blog post: https://www.bitcraze.io/2015/02/measuri ... pm-part-3/.

I hope that helps!

Thanks Whoenig.

This will definitely help. I know that the Crazyflie has some mapping from thrust to pwm. As I am now modeling some stuff in Simulink I can skip that step and just use rpm to thrust as mapping.