I’m planning to build an airplane capable of carrying payload under its wings (one under each wing), and considering to use PX4 to autonomously control the aircraft. A typical mission involves picking up and delivering these payloads at multiple locations, and there’s no guarantee that both the wings are equally loaded all the time. There are scenarios when there’s a payload under one wing while the other wing is free (asymmetric loading). Consequently, the CG of the aircraft moves along the lateral axis with some movement also along the longitudinal axis which causes a large rolling moment.
In this regard I have the following questions.
a) Is there a way to input the true CG location to PX4?
b) If the answer to the previous question is NO, then is it possible for PX4 to handle CG movement in flight without performance degradation.
Any input/ suggestion is appreciated.