aerostack2 / aerostack2/aerostack2
[as2_gazebo_assets] Crazyflie simulation model characteristics are not correct
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Description
### ROS2 Version
humble
### Version
main
### Installation
source
### What happened?
Hi!
I just wanted to let you know that the Crazyflie simulation model has incorrect characteristics that has been introduced by this PR: https://github.com/aerostack2/aerostack2/pull/608. The crazyflie weighs now 1.5 kilos and standard variables of the multicopter plugins (motor/momentconstants, dragcoefficients) have been taken that are meant for much bigger platforms.
Of-course it depends of how the simulation is used for. For higher level autonomy this is probably not a problem but for lower leve control it will be because the dynamics aren't accurate.
### How to reproduce your issue?
This is just an observation. The crazyflie simulation github repo uses the system ID parameters from the crazyflie and has been tuned to have stable flight: https://github.com/bitcraze/crazyflie-simulation
### Relevant log output
_No response_
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