Hello, if I have a controller that gives me thrust force in newtons, and I’m controlling body rates and throttle, and I’m using the iris quadcopter, would the following equations be sensible to give me the the desired throttle value from thrust?
I get thrust from my controller, and the remaining variables are from the iris SDF file.
motor_speed = sqrt(thrust / 4 * motorConstant)
throttle = (motor_speed - zero_position_armed ) / input_scaling
Or would there be any better methods?