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

Source: https://forum.modalai.com/topic/2934/physical-parameters-system-identification-for-voxl-2-starling-input-commands-to-thrust-and-body-torque-and-inertia-matrix
Category: FAQs (https://forum.modalai.com/category/4/faqs)
Posted: 2023-12-10 22:51:35 UTC by ben
Replies: 0 · Views: 485

## ben · 2023-12-10 22:51:35 UTC

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.