@gkashyap Hi, just create a new toml file in here which contains the geometry of your vehicle.
You want to specify the location of each motor with respect to the CG. It uses an xyz coordinate system where x points forward, y to the right and z points down.
I haven’t looked at it for a while but I think you should scale the distances such that the longest distance is equal to 1 (not sure about this, maybe the script scales automatically and you can use any units, as long as you are consistent.)
Then make sure that you add that file to the CMakeList.txt here
If you need more help on this please share your branch in a working state such that I can quickly check if everything is fine.
