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ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles
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Product of inertia problem #240

Open Azircarry opened 2 months ago

Azircarry commented 2 months ago

For some quadrotor UAVs with relatively partial center of gravity, the impact of inertia product should be considered. I_xy,I_xz, I_yz can't just be considered 0(Maybe I misunderstood the code) 55beda446842c58198aa47f1825955a

Jaeyoung-Lim commented 1 week ago

@Azircarry It would be nice to be able to add off-diagonal terms for the moment of inertia.

Would you be able to make a fix so that also the off-diagonal terms can be added to the moment of inertia?

It can be done here: https://github.com/ethz-asl/data-driven-dynamics/blob/252a9cb043a5cb870c01011b7a459ba514c5e2e5/Tools/parametric_model/src/models/multirotor_model.py#L75-L81