PX4 FW 1.16.0 VTOL Tailsitter frame setup failed

Dear PX’lers

tried to set frame type VTOL Tailsitter 13200 with latest QGC 4.4.4 and the previous release. It was not succesfull. Setting a standard frame, e.g. quadcopter works.

Used both options, QGC airframe configuration and as well setting of sys_autostart parameter directly. And I did reboot.

REBOOT

REBOOT

But when setting to Quadroter, it works without problems:

Used FW 1.14 and 1.16.0

Any idea what to do better? Thanks!

Hmmm…digging into it:

(venv-ardupilot) tobi@FLY-06:~/PX4-Autopilot/ROMFS/px4fmu_common/init.d/airframes$ cat 13200_generic_vtol_tailsitter
#!/bin/sh
#
# @name Generic VTOL Tailsitter
#
# @type VTOL Tailsitter
# @class VTOL
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

. ${R}etc/init.d/rc.vtol_defaults

param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR0_PY -0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PY 0.2
param set-default CA_SV_CS_COUNT 2
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_Y 0.5
param set-default CA_SV_CS0_TYPE 5
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_Y -0.5
param set-default CA_SV_CS1_TYPE 6

param set-default MAV_TYPE 19
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_B_TRANS_DUR 5

exists and cmakelist (airframes) seems also to contain the 13200 configuration:

if(CONFIG_MODULES_VTOL_ATT_CONTROL)
	px4_add_romfs_files(
		# [13000, 13999] VTOL
		13000_generic_vtol_standard
		13100_generic_vtol_tiltrotor
		13030_generic_vtol_quad_tiltrotor
		13200_generic_vtol_tailsitter
	)

Right now it appears that all VTOL_ATT_CONTROLframes can’t be set. After reboot, the frametype is lost, but works when e.g. a wing or a quad is set.

Hmmm…it is possible that it does not work because the option VTOL_ATT_CONTROL is not selected in the boardconfiguration.

Is it missing in the documentation, or is it not there?

The clue which pointed me into this direction, was actually that it is mentioned for rovers.