added wind back in. fixed a bug in quadrotor drag (was negated).

Parameters/setUpParameters.m

@@ -86,7 +86,7 @@ function [params] = setUpParameters(traj_num)
     end
    
     %% Set Wind Parameters
-    params.wind.enable = 0;
+    params.wind.enable = 1;
     params.wind.speed = 0;               % (m/s)
     params.wind.yaw = 0;                 % (rad). 0 = +x, pi/2 = +y
     

PhysicsModel/ForceTorqueCalculation/calc_drag_force_vehicle.m

@@ -12,7 +12,7 @@ function [F_Drag] = calc_drag_force_vehicle(X, Thrust_Force_Mag, params_global)
     
     %% 1) Calculate Drag Force on Quadrotor
     V_W_Vi_rel_Vi = R_V_G' * params_global.wind.R_W_G * [params_global.wind.speed; 0; 0] - [X.u;X.v;X.w];
-    F_Drag = - params_global.wind.C_bar_d * Thrust_Force_Mag * V_W_Vi_rel_Vi; 
+    F_Drag = params_global.wind.C_bar_d * Thrust_Force_Mag * V_W_Vi_rel_Vi; 
 
     %% 2) Allow for parameter to enable/disable drag force
     if params_global.wind.enable == 0

coopPayloadSim.m

@@ -24,7 +24,8 @@ simData = sim('coop_payload_sim','StartTime','0','StopTime',num2str(params.tFina
 % plot_position(simData.tout, simData.q1_X, simData.q1_Xd);
 % plot_orientation(simData.tout, simData.q1_X, simData.q1_Xd);
 % plot_force(simData.tout, simData.q1_F_gravity, 'Q1 Gravity');
-plot_force(simData.tout, simData.q1_F_tether, 'Q1 Tether_G');
+% plot_force(simData.tout, simData.q1_F_tether, 'Q1 Tether_G');
+plot_force(simData.tout, simData.q1_F_drag, 'Q1 Drag_V');
 
 %% Animate
 animate_simulink_data(simData, params);