I am trying to add a morphable quadrotor configuration and airframe in PX4.
The only thing I am confused is the addition of dynamic parameters in Geometry file (.toml). Based on the system control allocation, it depends upon the position of arms (so they are trignometric funtion of arm angles). How to add this feature?
For reference i read tilted quadrotor geometry file but tilting has direct relation in roll, pitch yaw direction (also straight forward in control groups). But morphing has some trignometric control allocations.