Questions about drone inertia calculation

[charmyoung]

I am using RotorS simulation as trajectory tracking simulation platform.

I have some questions about the inertia calculation for the drone. I notice that the inertia of the sample drone, like humming bird, consists of the inertia of multirotor_base and the inertia of rotor.

1. Refer to the inertia of rotor, what is the role of rotor_velocity_slowdown_sim where it seems to on the one hand slowdown the rotation of rotor according to the physics engine sampling time and on the other hand multiply to the mass.

2. does the overall inertia of drone simply equal the inertia of multirotor_base + the inertia of rotor from center of mass according to parallel axis theorem? Because I am not sure if there would be some features or tricks from gazebo and its ode physics.