SITL: SIM_Motor: include momentum drag in derived torque

ArduPilot · Feb 20, 2024 · c54529a · c54529a
1 parent bedcbc2
commit c54529a
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/libraries/SITL/SIM_Motor.cpp b/libraries/SITL/SIM_Motor.cpp
@@ -106,9 +106,6 @@ void Motor::calculate_forces(const struct sitl_input &input,
         rotor_torque = rotation * rotor_torque;
     }
 
-    // calculate total torque in newton-meters
-    torque = (position % thrust) + rotor_torque;
-
     if (use_drag) {
         // calculate momentum drag per motor
         const float momentum_drag_factor = momentum_drag_coefficient * sqrtf(air_density * true_prop_area);
@@ -124,6 +121,9 @@ void Motor::calculate_forces(const struct sitl_input &input,
         thrust -= momentum_drag;
     }
 
+    // calculate total torque in newton-meters
+    torque = (position % thrust) + rotor_torque;
+
     // calculate current
     float power = power_factor * fabsf(motor_thrust);
     current = power / MAX(voltage, 0.1);