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?
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?
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