what is math exact behind the gazebo motor model plugin

[airsimdevdd]

what is the exact formulas for calculating the parameters in gazebo model plugins and what are their units i need detailed description

thanks in advance

[Jaeyoung Lim]

https://github.com/PX4/PX4-SITL_gazebo-classic/blob/9343aaf4e275db48fce02dd25c5bd8273c2d583a/src/gazebo_motor_model.cpp#L196-217

[airsimdevdd]

@Jaeyoung-Lim how to calculate angular velocity motor constant and others ,what are units for prop dia

[Jaeyoung Lim]

@airsimdevdd The resulting force is in newtons, so you can check what the units for the factors are

[airsimdevdd]

I need some clarity on formulas and propeller diameter in rotordrag coefficient can u post it so i can verify

[Jaeyoung Lim]

@airsimdevdd Unfortunately there is no material available with the exact formulas, therefore I cannot post it.

If you think this is useful, you can derive the formulas and add it to the documentation