A rotor creates, because of its shape and the airflow resulting from this shape.
Now I’m trying to understand how the gazebo simulation works and how precisely the flying dynamics are modeled. During this process I was looking into the
iris.sdf file within the
Tools/sitl_gazebo/models/iris directory. This file models the collision of the rotors like this:
<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>
As far as I understand this, the actual physical collision model is just a cylinder and just the appearance is “rotor-shaped”. So how is the downforce created, when the rotor is spinning? Can anyone help me understand this?