aerostack2 / aerostack2/aerostack2

[as2_gazebo_assets] Crazyflie simulation model characteristics are not correct

Open
#641 2 comments 1 reaction 2 assignees Claimed by @fjanguita View on GitHub
bug
Dominant language
C++
Stars
384
Forks
98
Avg merge
3d 38m
Merged PRs (30d)
11

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_

Contributor guide

Open the contributing guide

Assessment

This issue has not been assessed yet.

Get new issues in your inbox

A short digest of beginner-friendly GitHub issues.