PX4 integration

[Fatimah-Alahmed]

Hello,

Q1: is there any efforts to merge the framework with PX4?

Q2: can I change the model of the drone to a bigger one( a different drone)?

[JacopoPan]

W.r.t. Q1, I am currently working mainly with PX4 SITL but I don't have a timeline to bring it into this repo
W.r.t. Q2, you can simply change the arm length, force and torque coefficients (kf, km), mass, and inertia from the URDF file to make the drone "physically" bigger, then change the visual mesh to make it "visually" bigger

gym-pybullet-drones/gym_pybullet_drones/assets/cf2x.urdf

Lines 1 to 31 in 3d7b12e

	<?xml version="1.0" ?>
	<robot name="cf2">
	<properties arm="0.0397" kf="3.16e-10" km="7.94e-12" thrust2weight="2.25" max_speed_kmh="30" gnd_eff_coeff="11.36859" prop_radius="2.31348e-2" drag_coeff_xy="9.1785e-7" drag_coeff_z="10.311e-7" dw_coeff_1="2267.18" dw_coeff_2=".16" dw_coeff_3="-.11" />
	<link name="base_link">
	<inertial>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<mass value="0.027"/>
	<inertia ixx="1.4e-5" ixy="0.0" ixz="0.0" iyy="1.4e-5" iyz="0.0" izz="2.17e-5"/>
	</inertial>
	<!-- links>
	<carlos url="https://arxiv.org/pdf/1608.05786.pdf" />
	<julian url="https://www.research-collection.ethz.ch/handle/20.500.11850/214143" />
	<mit url="http://groups.csail.mit.edu/robotics-center/public_papers/Landry15.pdf" />
	</links -->
	<visual>
	<origin rpy="0 0 55" xyz="0 0 0"/>
	<geometry>
	<mesh filename="./cf2.dae" scale=" 1 1 1"/>
	</geometry>
	<material name="grey">
	<color rgba=".5 .5 .5 1"/>
	</material>
	</visual>
	<collision>