Drone arm but not takeoff sitl gazebo

I am working with the following SDF file when I gave takeoff command from qgc only the prop spins and the drone did not take off here is my SDF file
I don’t know is the issue with mass of the drone

<sdf version='1.6'>
  <model name='my_custom_droneo'>
    <link name='base_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>2.2494</mass>
        <inertia>
          <ixx>0.024649</ixx>
          <ixy>-7.8701E-06</ixy>
          <ixz>-4.0429E-06</ixz>
          <iyy>0.024447</iyy>
          <iyz>-1.0355E-05</iyz>
          <izz>0.046713</izz>
        </inertia>
      </inertial>
      <collision name='base_link_inertia_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.47 0.47 0.11</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='base_link_inertia_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/base_link.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>

    <link name='/imu_link'>
      <pose>0 0 0.02 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.015</mass>
        <inertia>
          <ixx>1e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-05</iyy>
          <iyz>0</iyz>
          <izz>1e-05</izz>
        </inertia>
      </inertial>
    </link>
    <joint name='/imu_joint' type='revolute'>
      <child>/imu_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>0</effort>
          <velocity>0</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='rotor_0'>
      <pose>0.11217 -0.10398 0.12615 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0102857652690979</mass>
        <inertia>
          <ixx>1.4471352439084E-06</ixx>
          <ixy>2.46724635603962E-11</ixy>
          <ixz>2.61968213356202E-09</ixz>
          <iyy>1.44713594954588E-06</iyy>
          <iyz>2.61993099804036E-09</iyz>
          <izz>1.72167745600157E-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_0_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_0_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/m1.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_0_joint' type='revolute'>
      <child>rotor_0</child>
      <parent>base_link</parent>
      <axis>
        <xyz>-0.0095408 -0.0095408 -0.99991</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='rotor_1'>
      <pose>-0.096433 0.10461 0.12615 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0102857478418043</mass>
        <inertia>
          <ixx>1.44713076137831E-06</ixx>
          <ixy>2.29625650675118E-11</ixy>
          <ixz>2.60557507064569E-09</ixz>
          <iyy>1.4471320056128E-06</iyy>
          <iyz>2.60579985646894E-09</iyz>
          <izz>1.72167247935181E-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_1_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_1_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/m2.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_1_joint' type='revolute'>
      <child>rotor_1</child>
      <parent>base_link</parent>
      <axis>
        <xyz>-0.0094894 -0.0094894 -0.99991</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='rotor_2'>
      <pose>0.11165 0.1041 0.12615 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0102857800929994</mass>
        <inertia>
          <ixx>1.44709571315124E-06</ixx>
          <ixy>4.31100888110847E-13</ixy>
          <ixz>-1.44573959844029E-14</ixz>
          <iyy>1.44709405962182E-06</iyy>
          <iyz>4.1500658909426E-14</iyz>
          <izz>1.72177328424404E-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_2_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_2_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/m3.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_2_joint' type='revolute'>
      <child>rotor_2</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 -1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='rotor_3'>
      <pose>-0.096947 -0.1045 0.12615 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0102857482454295</mass>
        <inertia>
          <ixx>1.44709040698161E-06</ixx>
          <ixy>-9.15033797187728E-13</ixy>
          <ixz>-5.3723169747007E-14</ixz>
          <iyy>1.44709203266332E-06</iyy>
          <iyz>-2.82333857319929E-14</iyz>
          <izz>1.72176589016756E-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_3_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_3_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/m4.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_3_joint' type='revolute'>
      <child>rotor_3</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 -1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='snrFront'>
      <pose>0.18415 -0.00064622 0.046998 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0102857482454295</mass>
        <inertia>
          <ixx>1.19955441736062E-05</ixx>
          <ixy>4.71164873249512E-10</ixy>
          <ixz>7.25520358462022E-09</ixz>
          <iyy>6.2212244077722E-06</iyy>
          <iyz>4.7974277200154E-10</iyz>
          <izz>1.38274306764758E-05</izz>
        </inertia>
      </inertial>
      <collision name='snrFront_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='snrFront_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/snrFront.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='snrFront_joint' type='revolute'>
      <child>snrFront</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='snrRight'>
      <pose>0.0068085 -0.177 0.047111 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0417832516253194</mass>
        <inertia>
          <ixx>6.22153204590513E-06</ixx>
          <ixy>-5.16098761563559E-10</ixy>
          <ixz>4.79056100849948E-08</ixz>
          <iyy>1.19955543161854E-05</iyy>
          <iyz>-7.25258856330149E-09</iyz>
          <izz>1.38271454207545E-05</izz>
        </inertia>
      </inertial>
      <collision name='snrRight_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='snrRight_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/snrRight.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='snrRight_joint' type='revolute'>
      <child>snrRight</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='snrLeft'>
      <pose>0.0076985 0.1766 0.046887 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0417832225289182</mass>
        <inertia>
          <ixx>6.22151056501415E-06</ixx>
          <ixy>-4.26229521809202E-10</ixy>
          <ixz>4.6661314763127E-08</ixz>
          <iyy>1.19955440673549E-05</iyy>
          <iyz>7.25805879481062E-09</iyz>
          <izz>1.38271444603464E-05</izz>
        </inertia>
      </inertial>
      <collision name='snrLeft_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='snrLeft_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/snrLeft.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='snrLeft_joint' type='revolute'>
      <child>snrLeft</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
<!-- - - - - - - - - - - - - -  -->


    <link name='snrBack'>
      <pose>-0.16945 0.00023378 0.046995 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0417832231932911</mass>
        <inertia>
          <ixx>1.19955441736059E-05</ixx>
          <ixy>-4.71164873479946E-10</ixy>
          <ixz>7.25520358459577E-09</ixz>
          <iyy>6.22122440777232E-06</iyy>
          <iyz>-4.79742771489464E-10</iyz>
          <izz>1.38274306764757E-05</izz>
        </inertia>
      </inertial>
      <collision name='snrBack_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='snrBack_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/snrBack.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='snrBack_joint' type='revolute'>
      <child>snrBack</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
<!-- - - - - - - - - - - - - -  -->


<!-- - - - - - - - - - - snrDown- - - - - -  -->
    <link name='snrDown'>
      <pose>0.061376 -0.00022611 -0.006 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0417832231932894</mass>
        <inertia>
          <ixx>1.38274306764755E-05</ixx>
          <ixy>4.79742771011211E-10</ixy>
          <ixz>7.25520358460153E-09</ixz>
          <iyy>6.22122440777185E-06</iyy>
          <iyz>4.71164873348793E-10</iyz>
          <izz>1.1995544173606E-05</izz>
        </inertia>
      </inertial>
      <collision name='snrDown_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='snrBack_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/snrDown.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='snrDown_joint' type='revolute'>
      <child>snrDown</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <link name='lidar_link'>
      <pose>0.0073529 -0.00020118 0.1646 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0417832231932894</mass>
        <inertia>
          <ixx>1.38274306764755E-05</ixx>
          <ixy>4.79742771011211E-10</ixy>
          <ixz>7.25520358460153E-09</ixz>
          <iyy>6.22122440777185E-06</iyy>
          <iyz>4.71164873348793E-10</iyz>
          <izz>1.1995544173606E-05</izz>
        </inertia>
      </inertial>
      <collision name='lidar_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='lidar_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://my_custom_droneo/meshes/lidar_link.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='lidar_joint' type='revolute'>
      <child>lidar_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>


   
  </model>
</sdf>

I had a problem in the simulation that giving the takeoff command did not work but switching the drone to takeoff mode made it take off by itself. I was communicating with it through mavlink however. I don’t remember if QGC had the same problem.

[quote=“crazy-robotics, post:1, topic:43349”]
your mass is 2.2494
I would think you need to set <motorConstant>. The default is probably a tiny motor trying to lift a heavy drone.

Read the docs. For each rotor maybe something like:
`` <plugin filename=“gz-sim-multicopter-motor-model-system” ;name=“gz::sim::systems::MulticopterMotorModel”>

``rotor_0_joint <linkName>rotor_0</linkName> <turningDirection>ccw</turningDirection> <timeConstantUp>0.055</timeConstantUp> <timeConstantDown>0.095</timeConstantDown> <maxRotVelocity>500.0</maxRotVelocity> <motorConstant>0.0002</motorConstant> <momentConstant>0.049</momentConstant> <commandSubTopic>command/motor_speed</commandSubTopic> <motorNumber>0</motorNumber> <rotorDragCoefficient>0.000175</rotorDragCoefficient> <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> <motorType>velocity</motorType> </plugin>

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