Add Mars coaxial helicopter demo

[Govax99]

Feature description

An important part of Mars exploration will be the use of aerial vehicles to explore the Martian surface. As demonstrated by the Ingenuity helicopter, these autonomous vehicles can be used to scout and provide valuable data on the terrain and obstacles. To support the development and testing of control algorithms for the future Mars helicopter mission it would be beneficial to have a simulated environment where such vehicles can be tested.

Implementation considerations

A physical model for simulating coaxial helicopter dynamics, like the Ingenuity helicopter, is required. This model must realistically capture the behavior of the coaxial rotor system and be adaptable to varying levels of fidelity. It should feature a modular architecture, allowing flexibility in testing different dynamics components. The model will be implemented as a Gazebo plugin, enabling the simulation of the helicopter within a Gazebo environment for testing and development purposes.

Additional developments could add the following features:

• Swashplate model for the coaxial rotor system
• Aerodynamic effects between the wake and the bottom rotor/helicopter body
• Ground effect modeling
• Modeling of the rotor shaft dynamics and electric power system integration
• Advanced atmospheric modeling for the Mars environment