Hi! How it is possible to configure something like a standard_vtol to operate with 8 (4x4 coaxial) propellers + 1 pusher?
I tried as follows in gazebo simulator.
Adding one layer of 4 propellers and trying to control with 2 mixer files. One is standard VTOL controlling 4 upper layer of motors and pusher with aerodynamic surfaces. And one 4x for lower layer of propellers. I used mixer append command to add one more mixer file. With setup like this transition only occurs for upper layer of motors leaving bottom part operating during plane mode thus preventing from full transition leading to transition timed out.
Different approach I tried is to combine 8c geometry (substituting 4x in mixer file) with pusher and aerodynamics surfaces as presented in standard_vtol_sitl.main.mix. I did rearranged motors order in SDF file according to 8c configuration. But this setup does no fly at all. It looks like it turns control channels in improper order.
Where the logic for VTOL transition and operation is described? How to make it work correctly with 8 octocopter coaxial motors? To turn all of them on and off during transition?