Hummingbird MAV state space model

[marinahmurillo]

Hello, I hope anyone can help me.
I'm trying to simulate the hummingbird MAV within ROS & Gazebo environments. My goal is to control hummingbird's position and attitude using a non-linear model predictive controller. To do so, I need the non-linear equations that define the states derivatives for hummingbird's state vector (x,y,z,roll, pitch,yaw,u, v, w, p, q, r). I've tried using a generic state-space model and tuned its parameters to fit with the hummingbird's one but, as I couldn't find the value of some parameters, my simulations results are not as expected. I was wondering if it would be possible to get the whole state-space model of the hummingbird MAV. Is there an article where I could find it?
Thanks in advance,
Marina