I am currently running this version of the motor_model in my gazebo code:(https://github.com/PX4/sitl_gazebo/blob/master/src/gazebo_motor_model.cpp)
Where the pid is disabled (Why is there a pid within this motor model when pid will be handled by a separate flight controller?).
But also just recently found this:(http://docs.ros.org/melodic/api/rotors_gazebo_plugins/html/gazebo__motor__model_8cpp_source.html)
I am currently trying to create a parameter to set the thursters to veined thrust. There a small component of the thrust will be perpendicular to the primary flow. Delving through the code I have a few questions.
- The updating of forced and moments has a note that it has to be modeled better, how is it currently modeled and are there any ideas for better modeling?
- What is the reasoning for the scalar value that includes the comment “at 50 m/s the rotor will not produce any force anymore”
- How is the velocity set? The function AddRelativeForce (line 208), seems to always place the force in the third column of the array, which I am assuming is the z direction. Does this mean the force is always pushing in the Z direction for the motor model? How does this work for pusher motors?