With Gazebo, I'm trying to setup a representative SITL simulation of my configuration : DJI F550 Frame, 2312E engines, ESC 420Lite, default propellers.
I don't mind to have a clumsy visual model but I would like to have some precise value for the physical models.
I could measure/compute some :
- total mass : 1.6kg
- maxRotVelocity (with a 4S) : 9780.9rpm
- motorConstant : 1.6377e-05
I infered, but would need confirmation for thoses :
- Ixx : 0.028
- Iyy : 0.029
- Izz : 0.54
I was looking for values for others, like : momentConstant, timeConstantUp, timeConstantDown
Has anyone already seen, computed or measured such parameters ?