Direct motor control for turtle mode

Hi,
We are looking into implementing a turtle mode, where the drone flips over on the ground. But we have a couple of questions how this can be best implemented.

To flip over the drone needs to use 2 motors in reverse or normal mode depending if it is upside down or not. The other two motors should not turn because they are used as a point of contact with the ground.

Looking through the code with the new control allocator, we think we should be able to use the actuator_motors topic to control the motors directly. However we seem to be competing with the control allocator for that topic. Is there a way to temporarily bypass the control allocator?

Another way would be to send roll/pitch rates but then we would need to be able to tell PX4 to disable some motors temporarily. Iā€™m not sure if that is possible?

Last question, is this something that can be implemented in a flight task or does this need its own flight mode?

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