I am running the Offboard example with ROS and PX4 in Gazebo as described here: https://dev.px4.io/en/ros/mavros_offboard.html
(There is no Hardware involved in my setup)
I am on Ubuntu 16.04 with the PX4/Firmware on the master branch.
I am making the target for gazebo and px4 with the command:
make px4_sitl_default gazebo
which opens an instance of gazebo with an IRIS drone on which PX4 is running.
Then I connect mavros to the PX4 instance through the following command
roslaunch mavros px4.launch fcu_url:=udp://:14540@localhost:14557
And then I run the offboard example node described in the link above. Everything works fine.
The IRIS model is loaded from the folder:
The world chosen is the iris.world in the folder:
I was trying to understand better the whole architecture and I was wondering in which part of the code the controller parameters of the IRIS are loaded.
For example, where do I find the gains of the PID controller of the IRIS?
Could you point me in the right direction?