Physical Parameters System Identification for VOXL 2 Starling (Input Commands to Thrust and Body Torque and Inertia Matrix)
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We have the VOXL 2 Starling drone, and we would like additional system identification on the physical parameters of the drone, in particular:
- We want to compute the total thrust and induced body torque from input commands. Our plan was to use PWM signals from the mavros/rc_out topic, with a "PWM to Thrust" curve (typically quadratic function) and a "Thrust to Yaw Torque" curve (typically linear function) for each motor. Are the parameters for these two curves available? If not, is there a recommendation for our desired computation?
- We also want the inertia parameters (3x3 matrix).
Thanks in advance for your help.
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