Heavy drone climbs unresponsively after takeoff in PX4 sitl gazebo

[aniruddha236]

I recently worked on adding a custom model of a 25 kg VTOL in Gazebo Harmonic.
When I used the formulae for calculating the motor model parameters from the this pdf, the motors become overpowered. We achieve takeoff at 20% throttle.

When I use the formulas from the forum, we achieve takeoff at 60%.

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I still don’t fully grasp these motor model parameters but upon some trial and error, the desired result can be achieved.

[MostafaMGTech]

Hi. Do you adjust the motor parameters when you increase the weight? I suggest you open another thread and post it there along with a log file

[Sabar]

Do you have any GitHub code that I can use and then continue the trial and error from there? Because I used the equations and no luck.