This is a Gazebo simulation package migrated from the rotorS for ros-melodic (Ubuntu 18.04).
The geometry controller of the multirotor is implemented in this simulation.
The parameters of the multirotor(firefly model) can be found in /multirotor_geometry_control/rotors_simulator/rotors_description/urdf/firefly.xacro.
Gains used for geometric control(firefly model) are defined in /multirotor_geometry_control/rotors_simulator/rotors_gazebo/resource/lee_controller_firefly.yaml.