Change `rosflight_sim` to more easily support different frame configurations for different airframes.

rosflight / rosflight_ros_pkgs

ROS packages for the ROSflight autopilot

http://rosflight.org/

BSD 3-Clause "New" or "Revised" License

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Change `rosflight_sim` to more easily support different frame configurations for different airframes. #191

Open JMoore5353 opened 2 weeks ago

JMoore5353 commented 2 weeks ago

rosflight_sim for multirotors currently has parameters that determine the number of rotors and the motor positions. We need to update this so that it can support the same frame configurations that the firmware can now support (e.g. non-planar thrust vectors on the rotors).

It would also be nice to think of some way that the sim can pull parameters from the firmware so that we don't have to maintain 2 sets of parameters in two different places.