Hi! I wondering what's are the units for Ct and Cm and what is the formulae used to calculate Torque and Thrust with those terms?
I see Ct (thrust constant) has values about 1.0. While Cm (torque constant) has values about 0.05.
While Torque constant in SITL Gazebo models are in the same range. So called motorConstant used in Gazebo is several orders of magnitude smaller than Ct.
In Gazebo plugin the formula for Thrust as follows
F = motor_constant * real_motor_velocity^2
where real_motor_velocity is in radians/sec.
Looks like TOML uses different units for angular velocity of motor - maybe RPM (revoluts per minute)?
Does it have still same quadratic dependance of Thrust other the RPM?
Is this stuff documented anywhere?