Fix inertia

PX4 · Jul 18, 2024 · cc4aed2 · cc4aed2
1 parent c233640
commit cc4aed2
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/models/monocopter/monocopter.sdf.jinja b/models/monocopter/monocopter.sdf.jinja
@@ -6,14 +6,14 @@
       <pose>0 0 0 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
-        <mass>1.5</mass>
+        <mass>0.24</mass>
         <inertia>
-          <ixx>0.197563</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1458929</iyy>
-          <iyz>0</iyz>
-          <izz>0.1477</izz>
+          <ixx>0.025</ixx>
+          <ixy>-0.0022</ixy>
+          <ixz>-0.0001</ixz>
+          <iyy>0.00197563</iyy>
+          <iyz>-0.0003</iyz>
+          <izz>0.0273</izz>
         </inertia>
       </inertial>
       <collision name='base_link_collision'>