message: Proxy uses new Dynamics::vehicle_params_t
diff: @@ -28,20 +28,26 @@ static uint16_t IMAGE_COLS = 640;
  // Time constant
  static const double DELTA_T = 0.001;
  +static Dynamics::vehicle_params_t vparams = {
  +
  // Estimated
  -static constexpr float b = 5.E-06; // force constatnt [F=b*w^2]
  -static constexpr float d = 2.E-06; // torque constant [T=d*w^2]
  + 5.E-06, // b force constatnt [F=b*w^2]
  + 2.E-06, // d torque constant [T=d*w^2]
  // https://www.dji.com/phantom-4/info
  -static constexpr float m = 1.380; // mass [kg]
  + 1.380, // m mass [kg]
  +
  + // Estimated
  + 2, // Ix [kg*m^2]
  + 2, // Iy [kg*m^2]
  + 3, // Iz [kg*m^2]
  + 38E-04, // Jr prop inertial [kg*m^2]
  +
  + 0.350, // l arm length [m]
  +
  + 15000 // maxrpm
  +};
  -// Estimated vehicle properties
  -static constexpr float Ix = 2; // [kg*m^2]
  -static constexpr float Iy = 2; // [kg*m^2]
  -static constexpr float Iz = 3; // [kg*m^2]
  -static constexpr float Jr = 38E-04; // prop inertial [kg*m^2]
  -static constexpr float l = 0.350; // arm length [m]
  -static const uint16_t maxrpm = 15000;
  int main(int argc, char ** argv)
  {
  @@ -68,7 +74,7 @@ int main(int argc, char ** argv)
  TcpClientSocket imageSocket = TcpClientSocket(HOST, IMAGE_PORT);
  // Create quadcopter dynamics model
  - QuadXAPDynamics dynamics = QuadXAPDynamics(b, d, m, Ix, Iy, Iz, Jr, l, maxrpm);
  + QuadXAPDynamics dynamics = QuadXAPDynamics(vparams);
  // Set up initial conditions
  double time = 0;
  