Individual skill
motor-model-dynamics
Use this skill when simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix, applying first-order motor lag, and integrating the nonlinear equations of motion (translational and rotational) using RK45.
tasks/drone-planning-control/environment/skills/motor-model-dynamics/SKILL.md
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# Motor Model and Dynamics Simulation
## Overview
Two modules form the physics layer of the simulator:
1. **Motor model** — maps desired `[F, Mx, My, Mz]` → desired motor RPMs → applies first-order lag → returns actual thrust and moments
2. **Dynamics** — nonlinear equations of motion; given forces and moments, returns the 16-element state derivative for ODE integration
## Motor Model
### Propeller Allocation Matrix (X-frame quadrotor)
The 4×4 allocation matrix maps `[F, Mx, My, Mz]` to squared motor RPMs. For an X-frame with arm length `d`, thrust coefficient `cT`, and torque coefficient `cQ`: