Physical Parameters System Identification for VOXL 2 Starling (Input Commands to Thrust and Body Torque and Inertia Matrix)

[ben]

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.