add borinot_platfrom_simulation

yaml/borinot_platform_simulation.yaml

+platform_params:
+  cf: 4.511e-06 # cf computed with 60% thrust values (1196g at 15400rpm)
+  cm: 2.706e-07
+  max_thrust: 10 # Thrust limited to 10 N. Max available: 20.6991
+  min_thrust: 0.0
+  max_prop_speed: 2236.0 # Corresponding to its max (21350 rpm)
+  min_prop_speed: 0.0
+  base_link_name: "borinot__base_link"
+  n_rotors: 6
+  $rotors:
+    - translation: [0.0, -0.185, 0.0]
+      orientation: [0, 0, -0.707107, 0.707107]
+      spin_direction: [1]
+
+    - translation: [0.0, 0.185, 0.0]
+      orientation: [0, 0, 0.707107, 0.707107]
+      spin_direction: [-1] # (-) means CCW
+
+    - translation: [0.1602147, 0.0925, 0.0]
+      orientation: [0, 0, 0.258819, 0.965926] # x, y, z, w
+      spin_direction: [1]
+
+    - translation: [-0.1602147, -0.0925, 0.0]
+      orientation: [0, 0, 0.965926, -0.258819]
+      spin_direction: [-1]
+
+    - translation: [0.1602147, -0.0925, 0.0]
+      orientation: [0, 0, -0.258819, 0.965926]
+      spin_direction: [-1]
+
+    - translation: [-0.1602147, 0.0925, 0.0]
+      orientation: [0, 0, 0.965926, 0.258819]
+      spin_direction: [1]
+  thrust_coeff: # calculated from the quadratic aproximation
+    k_const: 5.618252
+    k_d1: -0.0112365
+    k_d2: 5.61825e-6
+    k_d3: 0
+    k_v1: 0
+    k_v2: 0
+    k_v3: 0
+    k_d1v1: 0
+    k_d2v1: 0
+    k_d1v2: 0