I would like to know that how iris+ drone model is run with motor inputs. What I mean is, I would like to know that how much thrust is generated and how it is applied to/from a rotor. firmware computes the input as thrust in the range 0-1 and converts into PWM signal I am using F=k_t * w^2 and T=k_d * w^2 formulas to compute force and torque generated by a rotor were k_t and k_d are known for the particular rotor which I don't know for iris+ quadrotor.
I need to know the amount of force applied to the quad in gazebo and inertia matrix for complete model and how to convert that thrust and torque to a rpm^2.
Can somebody clarify these issues for me?
