Calculate iris inertia from the body colision parameters

assuming that the body is homogenic cube. that fixes impossible inertia matrix
PX4 · May 18, 2019 · a0b0eb8 · a0b0eb8
1 parent 113605b
commit a0b0eb8
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/models/rotors_description/urdf/iris.xacro b/models/rotors_description/urdf/iris.xacro
@@ -31,7 +31,11 @@
 
   <!-- Property Blocks -->
   <xacro:property name="body_inertia">
-    <inertia ixx="0.0347563" ixy="0.0" ixz="0.0" iyy="0.0458929" iyz="0.0" izz="0.0977" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
+    <inertia 
+    ixx="${1/12 * mass * (body_height * body_height + body_width * body_width)}"
+    iyy="${1/12 * mass * (body_height * body_height + body_width * body_width)}"
+    izz="${1/12 * mass * (body_width * body_width + body_width * body_width)}"    
+    ixy="0.0" ixz="0.0" iyz="0.0" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
   </xacro:property>
 
   <!-- inertia of a single rotor, assuming it is a cuboid. Height=3mm, width=15mm -->