How to create Custom aircraft configuration with SITL

PX4 Autopilot Simulation 🌍
1

Hello,
I was exploring possibilities of creating a custom multirotor configuration/geometry and test it with Simulation environment. Basically I want to change motor’s position and mix the control inputs accordingly. May I know which simulation environment can support custom aircraft configuration?
I tried to configure motor position from QGC but no success because my aircraft geometry is lil weird.

In conclusion I just want to know how to introduce a new mutirotor and visualise the data using simulator(for e.g. jmavsim gazebo etc) and QGC.

Any help would be appreciated.

2

Hi,

You can do this in Gazebo, but it is not enough to just modify the motors in QGC. You also need to create a corresponding SDF file for the drone, otherwise the Gazebo model won’t react correctly to the control signals. I don’t know if there is a good guide to it somewhere, but the main idea is following this guide and then creating your own sdf file on top of that. For creating the sdf file, I would go take a look at the iris.sdf file and modify it accordingly to what you need.
Hope this helps at least getting in the correct direction.