How to set vehicle parameters(ex. mass) in UAV toolbox HITL Examples

Hello, everyone

I'm Park, I have studied Desiging drone controllers using UAV toolbox.

and I am following this examples :

https://kr.mathworks.com/help/supportpkg/px4/ref/qgc-hitl-example.html

and I followed every step in the examples.

So I want to design controllers, but I don't know how to change vehicle specifications.

The controllers' gains are changed by mass, moment of inertias.

How I change vehicle specifications in jmavsim HITL simulation?

I checked the PX4's parameter list through Qgroundcontrol, but I couldn't find related parameters.

Answer 1

[Manoj Velmurugan]

• Open Firmware\Tools\jMAVSim\src\me\drton\jmavsim\Simulator.java
• Look for 'vehicle.setMomentOfInertia' line and edit the vehicle properties. Save the file
• Relaunch jMAVSim ./Tools/jmavsim_run.sh -l

[SeungWoo Park]

Thank you!!

It worked!