Hi everyone,
Within the PX4 sourcecode I have created a custom gz aircraft model for SIL simulations. I have created a “model.sdf” file, “model.config” file, a mesh sub-directory which contains the aircraft’s (.stl) file. The (.stl) mesh file has one single aircraft body as a whole where fuselage, HT,VT,wings and landing gears (nose + left & right mlg) are all part of the entire aircraft body.
I have created a custom gz plugin for calculating thrust with a 3d interpolation lookup table. The plugin is successfully created and works properly in terms of mathematical calculation perspective.
In addition to this, I have also created a custom ROMFS airframe file for my aircraft.
The real issue I am facing is that when the gz model spawns with the make command, when I increase throttle to 100% in manual mode with a joystick or by typing the “commander takeoff” within the px4 terminal, the aircraft is not able to overcome the stiction and slide forward to initiate the take-off roll, lift off completely and fly like any normal aircraft model should supposed to do.
Despite adding friction values such as “mu”, “mu2”, “kp”, “kd”, “min_depth”, and “max_vel” and changing them within the baselink collision to cause the aircraft to start sliding for take-off, its just not happening. The aircraft is physically welded to the ground because of the weight and when 100% throttle is given its not moving forward. In addition to this, I have shifted the cp a little back from the cg as well.
How do I solve this issue and make the aircraft successfully slide (overcome “stiction”) to initiate take-off ground roll, lift off completely and fly like it normally should taking into consideration that my landing gear is already attached to the aircraft body as a whole?