Plane is not controlled in the air at SITL Gazebo

[kalchevds]

Hello.
I am developing my own aircraft, but before the physical tests, I would like to simulate it in Gazebo. And I ran into several problems
Gazebo does not describe the physical properties of the fuselage, including the wing. After unloading your model from SOLID to .stl format, and then converting to .dae format, this file contains only airframe visualization without any physical properties.
Description of plugins in the .sdf file. When substituting your recalculated data cda, cla, etc. the device absolutely does not obey its controls.
My parameters:
<joint name='elevator' type='revolute'> <pose relative_to='base_link'>-1.53563 -0.001001 0.037729 0 -0 0</pose> <child>Link5</child> <parent>base_link</parent> <axis> <xyz>0 -1 0</xyz> <limit> <lower>-0.43633</lower> <upper>0.43633</upper> </limit> <dynamics> <damping>1.000</damping> </dynamics> </axis> <physics> <ode> <implicit_spring_damper>1</implicit_spring_damper> </ode> </physics> </joint> <link name='Link5'> <pose relative_to='elevator'>0 0 0 0 -0 0</pose> <inertial> <pose>0 0 -0 0 -0 0</pose> <mass>0.32</mass> <inertia> <ixx>0.26</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.02</iyy> <iyz>0</iyz> <izz>0.28</izz> </inertia> </inertial> <collision name='Link5_collision'> <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> <uri>model://Plane/meshes/Link5.dae</uri> </mesh> </geometry> </collision> <visual name='Link5_visual'> <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> <uri>model://Plane/meshes/Link5.dae</uri> </mesh> </geometry> <material> <script> <name>Gazebo/Blue</name> <uri>__default__</uri> </script> </material> </visual> </link> <plugin name="elevator" filename="libLiftDragPlugin.so"> <a0>0</a0> <cla>1.195</cla> <cda>0.232</cda> <cma>0.232</cma> <alpha_stall>0.289</alpha_stall> <cla_stall>-1.494</cla_stall> <cda_stall>-0.29</cda_stall> <cma_stall>0.2812</cma_stall> <cp>-1.536 0 0</cp> <area>0.136</area> <air_density>1.2041</air_density> <forward>1 0 0</forward> <upward>0 0 1</upward> <link_name>base_link</link_name> <control_joint_name> elevator </control_joint_name> <control_joint_rad_to_cl>-5.15</control_joint_rad_to_cl> <robotNamespace></robotNamespace> <windSubTopic>world_wind</windSubTopic> </plugin>

Thanks for any help.

[Jaeyoung Lim]

First of all, I would like to clarify that this is not related to the plane model included in this repository.

@kalchevds You would need to calibrate the simulation to your model, and it is not possible to just look at your plugin configuration and guess what the problem could be.

I understand it is not obvious to set the aerodynamic coefficients in the simulation. You can maybe consider using https://github.com/ethz-asl/data-driven-dynamics to identify your model from flight logs