I was looking over the document "EuRoC_Call4Challengers_TechnicalAnnex_C3.pdf" and stumbled on to something sin section 4.3 "Helicopter Parameters".
There is an equation relating the rotor speeds to the the moments and thrust of the hexrotor. In there it seems to me that there is a mistake (by just looking at the units) in the "diag()" part with the k_n and k_m constants.
According to me, the "diag()" part should be:
diag( [ k_n*L; k_n*L; k_n*k_m; k_n ] )
or
diag( [ k_n*L; k_n*L; k_m; k_n ] )
What is actually used in the simulator?
Thanks