#17 added support for multicopters. They can now yaw while hovering, and are also able to turn without yawing. Additionally, the PR introduced a simple energy model. However, we should add a more realistic energy model based on PyThrust or on Stolaroff paper like this plugin.
In any case, the model will likely need data with battery capacity information and a potentially a look-up table such as this which links airspeed, mass to power and power, etc.
#17 added support for multicopters. They can now yaw while hovering, and are also able to turn without yawing. Additionally, the PR introduced a simple energy model. However, we should add a more realistic energy model based on PyThrust or on Stolaroff paper like this plugin.
In any case, the model will likely need data with battery capacity information and a potentially a look-up table such as this which links airspeed, mass to power and power, etc.