Improve Acquisition and Interpolation of Coefficients of Lift and Drag

[FireBoyAJ24]

Description

• Switch from a single Reynolds table containing angle of attack and the coefficient of interest fields, to a function, f(Reynolds number, angle of attack).
• Used build_airfoils_polars.py script to acquire the constants from www.airfoils.com based on the NACA numbers for each of the wings on Polaris.
• The script used to acquire the constants is then passed through an extrapolator to extend the angle of attack beyond 20 degrees to 90 degrees to deal with such extreme scenarios.
• This handling allows us to accuratly determine the lift and drag forces during variety of boat speeds. Compared to assuming that the boat is moving at 5-6 m/s.

Verification

• ros2 launch boat_simulator mode:=sim, runs without crashing
• ros2 launch global_launch main_launch.py record:=true mode:="sim", ensure the boat does not do anything extreme on the visualizer
• All test cases pass

Resources

• Aerodynamic Viterna Extrapolation
• Confluence on Lift and Drag Coefficient Acquisition