Extend Multicoptor Control system to include nested model inertial params #1450
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Signed-off-by: Ian Chen ichen@osrfoundation.org
🦟 Bug fix
Updated the multicoptor velocity control system's inertial computation to include nested models. With this change, the controller will now be able to generate more thrusts when a higher
motor_constant
is specified. Before this change, the drone will not be able to take-off. This is useful when adding payloads (in the form of nested models) with heavy mass to the drone platformAn integration test is added for this use case.
Here is an example of it working in our test environment:
Checklist
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