Lateral/directional stability and control using differential thrust


Hello everybody!

I have a personal project that consists on designing an autopilot for stability and control of an experimental fixed-wing aircraft with no vertical tail.

The target is to use differential thrust in its engines to control the yaw attitude and moment the same way the rudder is used.

At this stage of the project I am using Gazeebo to try to simulate a fixed-wing aircraft with two engines but I haven’t found any airframe that uses more than 1 engine. That’s why I am a bit unsure on the steps to follow.

So far I’m thinking on the following:

  • Create a new mixer that has outputs for 2 engines and link them with yawing
  • Create a new airframe that uses that mixer
  • Simulate a coordinated turn or a flight with lateral winds to see if the differential thrust works

What do you think? Maybe you could provide me with your feedback and ideas.

Thank you all,


Neat project! Is coordinated turns still working in PX4? @dagar might know.

I have a personal project that has been sitting on the back burner for a while with the idea towards differential thrust for yaw/roll control. I figured most of it could be handled in the mixer. Haven’t actually tried yet.