Official system dynamics model or linearized model of multirotor? #4643
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What's your question? Is there a system dynamics model existed in the existed materials? Do we have a linearized form as well?
Usually, consider a LTI system model, we can have an ode represents the system dynamics such as /dot x = Ax+Bu. where x are the system states like the 6 kinematic states we have for multirotos, and u were the control inputs to the system such as throttle for a car or torque for the drone. A and B are correspondind matries which we need to describe the system model. Since the drone in Airsim might be non-linear, maybe there is a linearized form of the model. Where can I find it?
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I read the paper https://microsoft.github.io/AirSim/paper/main.pdf , but I did not find the details and values in it.