Gazebo Aircraft Plugins for GymFC

These plugins are a port from a subset of PX4's sitl_gazebo project to be compatible with GymFC v0.2.0+ and are intended to be a more accurate model for multirotor aircraft in comparison to Gazebo's Lift and Drag plugin.

Changes from PX4:

• Implements GymFC API
• Allow reset for iterative training/testing

Pre-requisites

• cmake 3+
• Google protobuf
• Gazebo

Build

1) From root, mkdir build 2) cd build 3) cmake .. 4) make

Configure

Additional References

• Documentation: What is the math behind the Motor Model?
• PX4 motor models notes
• SDF Format