https://github.com/NovoG93/sjtu_drone/blob/ros2/sjtu_drone_description/urdf/sjtu_drone.urdf https://github.com/NovoG93/sjtu_drone/blob/ros2/sjtu_drone_description/src/plugin_drone.cpp

It uses a custom plugin called simple drone. How is it simulating it's physics without the need for the liftdrag plugin