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Obtain the dynamics/mathematical models of Iris in Gazebo

asked 2022-08-23 16:01:24 -0500

mshetty gravatar image

updated 2022-08-28 10:53:44 -0500

lucasw gravatar image

Hi all,

I am working with Iris using the PX4 stack in Gazebo. I am trying to find the mathematical model of the Iris drone used within it so that I can make changes and design different controllers. However, I have not been successful in finding this. It would be great if someone could point me to the right resources for this. Thanks a ton!

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answered 2022-08-23 16:56:05 -0500

tfoote gravatar image

updated 2022-08-23 16:56:13 -0500

The iris model is here in the PX4-SITL_gazebo repository

It contains all the weights, inertias, meshes, and motor models for the Iris.

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Thank you for this! Do you know if there are other resources where I can find the equations of motion or kinematics of the iris quadrotor?

mshetty gravatar image mshetty  ( 2022-08-23 19:22:45 -0500 )edit

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Asked: 2022-08-23 16:01:24 -0500

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Last updated: Aug 23 '22