Hi all,
I’m looking into using PX4 for an underwater drone with a thruster arrangement similar to the Vectored 6 DOF UUV air frame, with 4 horizontal thrusters and 4 vertical thrusters. I’m having a few issues getting this to work. For now I only look at the SERVO_OUTPUT_RAW in order to see the thruster output.
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When I control the drone in manual mode I get the thrusters working, when I increase thrust the horizontal thrusters fire correctly, but the vertical thruster also fire, appearing to want to pitch the drone. The same thing happens when I try to move the drone laterally, the vertical thrusters fire to roll the drone.
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I get no thruster signals when trying to operate in stabilize flight mode. If I change the air frame to something else I can see the thruster signals changing.
To me it appears that the software is treating the drone as a multicopter and not controlling correctly. To be clear, I would like only the horizontal thrusters to activate when trying to move laterally. I have seen that support for UUV is less documented than other air frames, so I’m wondering if it’s not fully implemented into PX4. If anyone can tell me anything about this or have had similar issues, any answer would be greatly appreciated. Thank you!