Altering dynamics of a QuadCopter in simulation

How to alter the dynamics of a Drone

I have a QuadCopter in real life whose exact dynamics like the Max Thrust capacity, Max Rotor speeds I want to deploy in a Gazebo simulation. For this purpose I have taken an already available drone simulation of the IRIS drone whose parameters in the model .sdf file I have altered. However I am not able to figure out how to alter the Max thrust and rotor speed parameters of the drone.

Also I want to control the simulated drone using the hand-held transmitter controller instead of the keyboard or using a script. For that I want to map the PWM values of the channels of the transmitter to the rotor speeds so as to get a simulation which is as close as possible to the real drone.

Please help someone

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