How to enable 3D thrust for an omnidirectional drone and change its attitude independently

Hello PX4 community,

I am new to PX4 and am working on a project that involves flying an omnidirectional drone. I would like to replicate the maneuvers performed in this video from the PX4 Youtube channel (PX4 Based Omnicopter Using the New Dynamic Control Allocation in v1.13 - YouTube) in simulation.
I was wondering if anyone could help me with these questions:

  • How do I enable 3D thrust for an omnidirection drone in PX4?

  • How do I set up the mixer and the controller for this type of drone?

  • How do I change the attitude of the drone independently from its position and velocity?

I am using PX4 1.14, Q Ground Control, Gazebo 11, and ROS2 Foxy
I would appreciate any guidance or tips from the PX4 experts or anyone who has experience with omnidirectional drones. Thank you.

Hi, just wondering if you have found a solution yet?

Hey chen716, It appears that the PX4 team who worked on the Omnicopter were using this branch: GitHub - PX4/PX4-Autopilot at omnicopter-testing Hopefully that helps you

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