Hello everyone,
I have been using PX4 for a month now and I have the following question: is PX4 currently able to support multicopters with tilting arms? Similar to the work that @salmarc did previously. I know that he customized PX4 software to his needs, but I was wondering if the type of control he implemented for multicopter with tilting arms was ever incorporated/merged to PX4 main branch.
I am trying to use PX4 to control my drone (first on Gazebo), but I am unable to have a stable flight once I add the tilting feature. Maybe I am missing some parameter on my mixer:
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
# Set vehicle airframe
param set-default CA_AIRFRAME 8
param set-default SYS_HAS_GPS 1
param set-default SYS_HAS_BARO 0
param set-default SYS_HAS_MAG 1
# Square quadrotor X with reverse turn direction
param set-default CA_ROTOR_COUNT 8
param set-default CA_ROTOR0_PX 0.375
param set-default CA_ROTOR0_PY 0.32
param set-default CA_ROTOR0_PZ 0.05
param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR1_PX 0.375
param set-default CA_ROTOR1_PY -0.32
param set-default CA_ROTOR1_PZ 0.05
param set-default CA_ROTOR1_TILT 2
param set-default CA_ROTOR2_PX -0.375
param set-default CA_ROTOR2_PY -0.32
param set-default CA_ROTOR2_PZ 0.05
param set-default CA_ROTOR2_TILT 3
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.375
param set-default CA_ROTOR3_PY 0.32
param set-default CA_ROTOR3_PZ 0.05
param set-default CA_ROTOR3_TILT 4
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0.375
param set-default CA_ROTOR4_PY -0.32
param set-default CA_ROTOR4_TILT 2
param set-default CA_ROTOR4_PZ -0.05
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR5_PX 0.375
param set-default CA_ROTOR5_PY 0.32
param set-default CA_ROTOR5_PZ -0.05
param set-default CA_ROTOR5_TILT 1
param set-default CA_ROTOR5_KM -0.05
param set-default CA_ROTOR6_PX -0.375
param set-default CA_ROTOR6_PY 0.32
param set-default CA_ROTOR6_PZ -0.05
param set-default CA_ROTOR6_TILT 4
param set-default CA_ROTOR6_KM 0.05
param set-default CA_ROTOR7_KM -0.05
param set-default CA_ROTOR7_PX -0.375
param set-default CA_ROTOR7_PY -0.32
param set-default CA_ROTOR7_PZ -0.05
param set-default CA_ROTOR7_TILT 3
# Add tilt control
param set-default CA_SV_TL0_MAXA 45
param set-default CA_SV_TL0_MINA -45
param set-default CA_SV_TL0_TD 0
param set-default CA_SV_TL0_CT 0
param set-default CA_SV_TL1_MAXA 45
param set-default CA_SV_TL1_MINA -45
param set-default CA_SV_TL1_TD 0
param set-default CA_SV_TL1_CT 0
param set-default CA_SV_TL2_MAXA 45
param set-default CA_SV_TL2_MINA -45
param set-default CA_SV_TL2_TD 0
param set-default CA_SV_TL2_CT 0
param set-default CA_SV_TL3_MAXA 45
param set-default CA_SV_TL3_MINA -45
param set-default CA_SV_TL3_TD 0
param set-default CA_SV_TL3_CT 0
param set-default CA_SV_TL_COUNT 4
# Simulation parameters
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_EC_FUNC5 105
param set-default SIM_GZ_EC_FUNC6 106
param set-default SIM_GZ_EC_FUNC7 107
param set-default SIM_GZ_EC_FUNC8 108
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_EC_MIN1 150
param set-default SIM_GZ_EC_MIN2 150
param set-default SIM_GZ_EC_MIN3 150
param set-default SIM_GZ_EC_MIN4 150
param set-default SIM_GZ_EC_MIN5 150
param set-default SIM_GZ_EC_MIN6 150
param set-default SIM_GZ_EC_MIN7 150
param set-default SIM_GZ_EC_MIN8 150
param set-default SIM_GZ_EC_MAX1 2000
param set-default SIM_GZ_EC_MAX2 2000
param set-default SIM_GZ_EC_MAX3 2000
param set-default SIM_GZ_EC_MAX4 2000
param set-default SIM_GZ_EC_MAX5 2000
param set-default SIM_GZ_EC_MAX6 2000
param set-default SIM_GZ_EC_MAX7 2000
param set-default SIM_GZ_EC_MAX8 2000
# Manual adjustment of PIDs
param set-default MC_YAW_P 100
param set_default MC_YAWRATE_P 2