Product of inertia problem

[Azircarry]

For some quadrotor UAVs with relatively partial center of gravity, the impact of inertia product should be considered. I_xy,I_xz, I_yz can't just be considered 0(Maybe I misunderstood the code)

[Jaeyoung-Lim]

@Azircarry It would be nice to be able to add off-diagonal terms for the moment of inertia.

Would you be able to make a fix so that also the off-diagonal terms can be added to the moment of inertia?

It can be done here:

data-driven-dynamics/Tools/parametric_model/src/models/multirotor_model.py

Lines 75 to 81 in 252a9cb

	self.moment_of_inertia = np.diag(
	[
	self.config.model_config["moment_of_inertia"]["Ixx"],
	self.config.model_config["moment_of_inertia"]["Iyy"],
	self.config.model_config["moment_of_inertia"]["Izz"],
	]
	)