I am a newby, and I’d like to design my own hexacopter (mounting a Pixhawk 3 PRO). Hence, I want to define my own model for hexacopter for SITL simulation (using Gazebo). I know that I have to define my own sdf model for my hexacopter.
I saw, that in the .sdf file I have to define the mass of the Whole object; in such a way I am assuming that weight is uniformly distributed? What happen if, for example I am mounting a gimbal? Is there a way to define the mass of each part? I am sure that I am wrong something…Could you please help me? Where could I find useful information about this issue? Lastly, I think that best solution could be sitl simulation using gazebo; could be useful tha usage of ROS in such case?
Thank you, and sorry for the certainly stupid questions