Gazebo SDF File Motor data parameters definitions

[PallatiAditya]

Hi everyone,

I am new to Gazebo and I am facing problems in defining motor parameters. Can anyone give an understanding (also where to get it) of following parameters.

1. Time Constant Up - (Is it similar to hardware delay =>time taken to get the physical effect(eg: RPM change) after command is given by controller)
2. Time constant down - ((Is it similar to hardware delay =>time taken to get the physical effect(eg: RPM change) after command is given by controller)
3. Motor Constant - (was able to find value from below links but not matching with predefined motors of iris or typhoon drones)
4. Moment Constant - (was able to find value from below links but not matching with predefined motors of iris or typhoon drones)
5. Rotor Drag Coefficient - (Is it blades' drag coefficient at max RPM)
6. Rolling moment Coefficient - (did not understand at all . is it rolling moment coefficient about rotor blade hinge line(at certain RPM) caused by aerodynamic force on blade at that particular RPM?)
7. Max Rotational Velocity (is it in rad/s, which is not matching with predefined motors)
8. Physically speaking, how does Yaw actually work in quad or hex drones? By doing differential RPM on rotors how does vehicle yaw? Is it something related to drag of the blade (while at certain RPM) causing reaction torque on body?

I also referred to

#110

#995

https://github.com/mvernacc/gazebo_motor_model_docs/blob/master/notes.pdf

Thanks in Advance

Aditya

[PallatiAditya]

Any one help please.