Adding a custom MAV

[dkapur17]

Adding a custom MAV

[welcome]

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[gsilano]

Hi there! Have you read the reference publications? I highly recommend the book chapter. There you can find a detailed description of how the Crazyflie was integrated into the RotorS simulator.

I hope this helps. Please don't hesitate to give me back if this doesn't work for you.

[michieltebraake]

I have read your book chapter on CrazyS. In this book chapter you do note the motor_constant, moment_constant, rotor_drag_coefficient and rolling_moment_coefficient for the Crazyflie, but you do not seem to say how you found these values.

Were they found experimentally? And if so, what equations were used for them?
Also, I notice that the rotor_drag_coefficient and rolling_moment_coefficient are the same as the default values from other RotorS model sdf's. Are these values not important for a good simulation result?

There has been extensive discussion on the underlying math of these parameters in another repo based on RotorS (PX4/PX4-SITL_gazebo-classic#110), but that discussion never quite reached a clear conclusion. I was hoping you might have the answer to these questions.

[gsilano]

Hi @michieltebraake! As stated on page 6 (this is the link to the preprint file, https://giuseppesilano.net/publications/rosChapter19.pdf), the parameter values of the Crazyflie have been taken from the repository [46] by the same research group of [29]. These parameters have never been validated with a real-world experiment. So, for completeness, Forster's parameters have also been implemented in the repository (see #56).

[46] The Automatic Coordination of Teams Lab, “GitHub Repository, RotorS fork, crazyflie-dev branch.” [Online]. Available: https://goo.gl/tBbS9G
[29] W. Honig and N. Ayanian, “Flying Multiple UAVs using ROS,” in ¨ Robot Operating System (ROS): The Complete Reference (Volume 2), A. Koubaa, Ed. Springer International Publishing, 2017, pp. 83–118.

GitHub

GitHub - USC-ACTLab/rotors_simulator at crazyflie-dev

RotorS is a UAV gazebo simulator. Contribute to USC-ACTLab/rotors_simulator development by creating an account on GitHub.

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[gsilano]

Closed for inactivity.