quad config for testing

Author: AndrewC2023

test/validation/simple_multirotor/small_quad_config.yaml

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+# Small quadcopter configuration for validation testing
+# Lightweight, fast response characteristics
+
+!AircraftParams
+aero: !AeroParams
+  cd: 0.5  # Drag coefficient
+
+mass: !MassParams
+  mass_kg: 0.5  # 500g total mass (small racing quad)
+  cg_m: [0.0, 0.0, 0.0]  # Center of mass at origin
+  inertia_kgm2:  # Moment of inertia matrix (small quad, approximately spherical)
+    - [0.002, 0.0, 0.0]     # Ixx
+    - [0.0, 0.002, 0.0]     # Iyy
+    - [0.0, 0.0, 0.003]     # Izz
+
+geo: !GeoParams
+  front_area_m2: [0.01, 0.01, 0.01, 0.01]  # Small frontal area at different angles
+
+prop: !PropParams
+  # Polynomial coefficients for thrust: T = c0*cmd^2 + c1*cmd + c2
+  # DESCENDING ORDER: [c2, c1, c0] where T = c2*x^2 + c1*x + c0
+  # Normalized motor command [0, 1] -> thrust in Newtons
+  # For hover: 4 motors * thrust ≈ 0.5kg * 9.81 ≈ 4.9N total, ~1.23N per motor
+  poly_thrust: [2.5, 0.0, 0.0]  # Quadratic: T = 2.5*cmd^2, ~2.5N at cmd=1.0 per motor
+  
+  # Polynomial coefficients for torque: Q = c0*cmd^2 + c1*cmd + c2  
+  # DESCENDING ORDER: [c2, c1, c0]
+  # Reaction torque in N-m
+  poly_torque: [0.05, 0.0, 0.0]  # Quadratic: Q = 0.05*cmd^2, ~0.05 N-m at cmd=1.0
+
+motor: !MotorParams
+  # X configuration: motors at 45 degrees from body axes
+  # Arm length: 0.1m (small 200mm frame)
+  pos_m:
+    - [0.0707, 0.0707, 0.0]   # Front-right motor (45°)
+    - [-0.0707, 0.0707, 0.0]  # Front-left motor (135°)
+    - [-0.0707, -0.0707, 0.0] # Rear-left motor (225°)
+    - [0.0707, -0.0707, 0.0]  # Rear-right motor (315°)
+  
+  # Direction: +1 = CCW, -1 = CW (viewed from above)
+  # Standard X configuration: FR(CW), FL(CCW), RL(CW), RR(CCW)
+  dir: [-1, 1, -1, 1]