Create a world file in Tools/sitl_gazebo/worlds called my_vehicle.world (Again, this can be based off the iris or solo world files).Create the following files under Tools/sitl_gazebo/models/ my_vehicle: nfig and my_vehicle.sdf (these can be based off the iris or solo models in Tools/sitl_gazebo/models).Create a folder under Tools/sitl_gazebo/models for your model, let’s call it my_vehicle.The steps I took for creating a custom Gazebo model and PX4 SITL airframe with the adjusted gains: Hi I have successfully created a custom model for SITL. Is there any bigger drone model available? Something between 15-20 kg? What am I doing wrong? This is not very well documented so it’s hard to debug. With that changed, I can command with QGroundControl a take off, but it is very unstable, and falls to the ground after a few seconds. I don’t know what does the mass has to do with drone position, but it does. I was able to solve this changing mass to 10. It loads but behaviour of the drone is bad.įirst of all, it is spawned underground. I created an ekf2 file (copying everything from the iris) and modified mavros_posix_sitl.launch to point to my model. The numbers are calculated with the formulas from this thread: I also replaced for each one of the rotors: I am trying to modify iris model to simulate a bigger drone.įor that I started with iris.sdf file and replaced mass value of base_link to 18.
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