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Question about an airframe for a coaxial quadrotor with tiltable motor planes. Example: Eachine Racer 180 Tilt Rotor FPV Racing Quadcopter - YouTube
This should be well doable with dynamic control allocation now since every actuator has an actuation direction and it can even change mid-flight. With the old mixer system, it was only possible with workarounds.
Such a vehicle is useful if you have a sensor fixed to the frame that needs to be pointing straight forward or if you want to optimize air resistance in fast forward flight.
Until there’s a dedicated airframe Patrick is trying to tilt the motors by directly setting the servo signal having them connected to the AUX1 channel.
@bresch When commanding vertical velocity for a multicopter we now use the same velocity limits for the setpoints and hard limits in the controller. That means if the setpoint is already at the cmaximum the veritcal position controller has no authority to correct anymore.
Suggestion: Add a parameter for vertical “cruise speed” and have the limits higher than that. The cruise speed is then used for trajectory generation in autonomous as well as manual modes.
- @MaEtUgR Slight improvement in offtrack logic during mission gotos when altitude is not met:
- @JulianOes Fuzztesting over MAVLink. Old pr from 2019 that’s refurbished and almost ready to merge. It sends random bytes that pass the CRC but are garbage potentially causing parser corruption. It could be ran on prs or regularly at night. Regularly is preferred since the randomness could lead to confusion and getting ignored on prs. Here’s an example on a bug that was found using this testing method already: generator: fix off-by-one in mavlink_get_msg_entry by julianoes · Pull Request #343 · ArduPilot/pymavlink · GitHub
Discussion based on board: High-Priority Queue · GitHub
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