Converting from Rates to Normalized Body Rates for Iris

PX4 Autopilot
1

Using the parameters in the Iris model definition, I have been able to figure out how to convert from thrust
in newtons to normalized throttle.

How can I do this for torques to body rates?

2

@Jaeyoung-Lim I believe you may be the right person to help

3

I believe you will need to use the inertia matrix to get the rotatinal rates from torques.
An alternative is to use a geomteric controller. One implementation is available at GitHub - Jaeyoung-Lim/mavros_controllers: Aggressive trajectory tracking using mavros for PX4 enabled vehicles , by @Jaeyoung-Lim