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Fix gyroscopic precession sign: roll term (row 0) had the wrong sign #86

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Fix gyroscopic precession sign: roll term (row 0) had the wrong sign #86

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42669d9
Fix gyroscopic precession sign: roll term, not pitch
Zaffer Jul 8, 2026
50866ba
Update dynamics.py
Zaffer Jul 8, 2026
3f8e02b
Update dynamics.py
Zaffer Jul 8, 2026
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4 changes: 2 additions & 2 deletions crazyflow/dynamics/first_principles/dynamics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ def dynamics(
)
torque_inertia = prop_inertia * xp.stack(
[
-ang_vel[..., 1] * xp.sum(mixing_matrix[..., -1, :] * rotor_vel_rads, axis=-1),
ang_vel[..., 1] * xp.sum(mixing_matrix[..., -1, :] * rotor_vel_rads, axis=-1),
-ang_vel[..., 0] * xp.sum(mixing_matrix[..., -1, :] * rotor_vel_rads, axis=-1),
xp.sum(mixing_matrix[..., -1, :] * rotor_vel_dot_rads, axis=-1),
],
Expand Down Expand Up @@ -261,7 +261,7 @@ def symbolic_dynamics(
rotor_vel_rads = symbols.rotor_vel * rpm_to_rad
rotor_vel_dot_rads = rotor_vel_dot * rpm_to_rad if model_rotor_vel else symbols.rotor_vel * 0.0
torque_inertia = prop_inertia * cs.vertcat(
-symbols.ang_vel[1] * cs.sum(mixing_matrix[-1, :] * rotor_vel_rads),
symbols.ang_vel[1] * cs.sum(mixing_matrix[-1, :] * rotor_vel_rads),
-symbols.ang_vel[0] * cs.sum(mixing_matrix[-1, :] * rotor_vel_rads),
cs.sum(mixing_matrix[-1, :] * rotor_vel_dot_rads),
)
Expand Down
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