Lift Drag Plugin vs. Motor Model Plugin

Hello Gazebo Community,

I am currently trying to write my own SDF File to subscribe my own drone.

Coming from ArduPilot or Pixhawk there are two ways to describe my drone, i feel like.

ArduPilot always uses the "LiftDragPlugin" even for their Copter descriptions, but Pixhawk uses the Motor "Motor_Model" Plugin.

Which one to use? I dont find any information inside the Iris sdf file from pixhawk about lift for the described drone. So i feel like it has to be inside the motor plugin, but there is no lift variable inside of that.

Can someone explain which plugin to use when?

thanks alot!

Asked by cluue on 2019-02-25 09:46:46 UTC

Comments

Answers

I have been working on something similar, but I have ran into some problems with the motor_model now that I have 10 motors within my model, trying to see if I can solve that. Do you have any examples of a copter design utilizing the lift plus drag plugin?

Asked by CalvinK on 2019-06-02 20:14:45 UTC