Hi! I am trying to run gazebo simulation of the control allocator module to simulate a motor failure on a multirotor (basically reproducing this demo).
In order to do that, I created a new gazebo model
typhoon_ctrlalloc as described here and added the model in
PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake, then ran
make px4_sitl_ctrlalloc gazebo_typhoon_ctrlalloc. The simulation started successfully. When I set
0 as suggested in the demo video, it sets the respective rows in the effectiveness matrix zero:
However, in my simulation, the multicopter crashes soon after (flight log) I am not sure what is causing the problem…
There seems to be quite a lot of changes to the control_allocator module after that demo was published. I wonder if we can do a similar simulation with the current code?