Hi everyone,

I'm using the Asctec Pelican and I have to command directly the motor rotational velocities.

For this purpose I need to know the conversion factor from Asctec rpms to real ones (I know Asctec rpms have a range 0-200).

Since in the sdk.h file from asctec-sdk3.0-archive.zip (

http://wiki.asctec.de/display/AR/SDK+Downloads) there are two comments (reported below) related to this concept and they explain two different ways of conversion, I just want to know which one is correct.

1:

/*

* Quadcopter (AscTec Hummingbird, AscTec Pelican)

*

* measurement equals a real rpm of motor_rpm*64

2:

* Quadcopter (AscTec Hummingbird, AscTec Pelican -> both Hacker motors)

*

* motor commands equal a real commanded rpm of (25+(motor*175)/200)*43

* please note that all fractions are removed during every calculation steps

* e.g. motor = 100; means a turning speed of (25+ (100*175/200))*43=4816 rpm

* Max. turning speed 8600 rpm

Thanks for the help.