I am trying to modify iris model to simulate a bigger drone.
For that I started with iris.sdf file and replaced mass value of base_link to 18. I also replaced for each one of the rotors:
The numbers are calculated with the formulas from this thread: https://github.com/PX4/sitl_gazebo/issues/110
I created an ekf2 file (copying everything from the iris) and modified mavros_posix_sitl.launch to point to my model. It loads but behaviour of the drone is bad.
First of all, it is spawned underground. I was able to solve this changing mass to 10. I don’t know what does the mass has to do with drone position, but it does.
With that changed, I can command with QGroundControl a take off, but it is very unstable, and falls to the ground after a few seconds.
What am I doing wrong? This is not very well documented so it’s hard to debug.
Is there any bigger drone model available? Something between 15-20 kg?