Gazebo simulation for the MiniHawk-VTOL

[srmainwaring]

Hi Stephen,

I've put together a Gazebo model for the MiniHawk-VTOL for running simulations with ArduPilot SITL: ArduPilot/SITL_Models#102. I'm considering building the model and wanted to get an understanding of its behaviour (and it's a great model to add to the SITL_Models collection!).

It's still a work in progress, QLOITER and FBWA are reasonably tuned (by the QVTOL and Plane autotune routines). The forward transition from VTOL to FBWA is a little bumpy - I'm looking into that at the moment. The aerodynamics are fairly rudimentary, and the lift-coefficients are from another section, so at best its a rough approximation.

The modified mesh files are with the project - these are Collada as required by SDFormat. There is a Blender project I can make available as well which is used to generate the mesh files from your originals. If you'd like livery added etc. that could be done.