How do you dynamically change mav parameters in the simulator?

[spencerfolk]

Hi all,

I'm wondering if anyone knows how to change the mav parameters (like the mass, inertia, etc.) mid simulation?

I tried changing them using rosparam set <rosparam_name> <param> while the simulator is running but this doesn't seem to update the actual values, like the mass, in the simulator. Further, these parameters are just associated with the controller node, and not the robot itself.

Is it possible to change these values during the simulation or would it be a headache?