I’m working on drone which uses an additional variable pitch propeller on the back, controlled via some ROS topic.
This propeller allows forwards and backwards movement without altering the drones pitch.
I am attempting to create my drone in the px4_sitl, but am unsure on the best way to create this variable pitch propeller.
The propeller spins at a constant RPM, with the pitch being changed allowing a variable velocity.
My current approach is to create a new propeller that is similar to the typical quadrotor propellers, using the libgazebo_motor_model.so plugin.
I am extending the plugin to allow the ROS topic to vary the motorConstant parameter and turningDirection, allowing forwards and backwards movement.
I have reduced the timeConstants, this I think will work but it’s not ideal- is there a better way to implement a ‘real’ variable pitch, rather than essentially just switching the motor in and out of reverse quickly?
Thanks for any input