Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Mon, 12 Jul 2021 06:47:57 -0500Finding the inertia matrix of a modelhttp://answers.gazebosim.org/question/27165/finding-the-inertia-matrix-of-a-model/ Hello all,
I’m trying to create a gazebo model of a vtol with two motors, for this I started from the standard vtol model that I turned and removed two motors. I put you my final results below.
![image description](/upfiles/16256416224084049.png)
My goal is to make a model much lighter than the standard vtol (1,5 kg instead of 5kg). But this changes the inertia matrix and as I want to use my model with PX4 this one is very important.
I tried to calculate it on meshlab but they tell me that my model is not watertight.
Would someone have another solution to calculate the inertia matrix or has he already worked on this kind of drone and knows the coefficients?
I thank you in advance for your helpWed, 07 Jul 2021 02:09:57 -0500http://answers.gazebosim.org/question/27165/finding-the-inertia-matrix-of-a-model/Comment by Clément Rolinat for <p>Hello all,</p>
<p>I’m trying to create a gazebo model of a vtol with two motors, for this I started from the standard vtol model that I turned and removed two motors. I put you my final results below.
<img src="/upfiles/16256416224084049.png" alt="image description">
My goal is to make a model much lighter than the standard vtol (1,5 kg instead of 5kg). But this changes the inertia matrix and as I want to use my model with PX4 this one is very important.
I tried to calculate it on meshlab but they tell me that my model is not watertight.
Would someone have another solution to calculate the inertia matrix or has he already worked on this kind of drone and knows the coefficients?
I thank you in advance for your help</p>
http://answers.gazebosim.org/question/27165/finding-the-inertia-matrix-of-a-model/?comment=27184#post-id-27184if the volume/shape of the vtol is the same, and you have the inertial matrix for a mass of 5 kg, simply dividing each of its coefficient by 3.33 (5kg/1.5kg) should work.Mon, 12 Jul 2021 06:47:57 -0500http://answers.gazebosim.org/question/27165/finding-the-inertia-matrix-of-a-model/?comment=27184#post-id-27184