Overview
mrsim-gazebo is a gazebo plugin for multi-rotor simulation.
It emulates the tk3-mikrokopter software running on Mikrokopter hardware via a pty implementing the tk3-mikrokopter communication protocol and all the tk3-mikrokopter features so that the hardware can be fully emulated.
The rotor dynamics are simulated using a realistic motor model and a simple thrust/drag propeller model. The same hardware velocity controller as implemented in the tk3-mikrokopter software controls the propellers velocities. Then, at the user's choice, either the geometry of a model can be used to compute the total wrench applied to the rigid body, or an explicit allocation matrix can be specified.