PX4 FW 1.16.0 VTOL Tailsitter frame setup failed

[tobiokanobi]

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!

[tobiokanobi]

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.

[tobiokanobi]

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?

VTOL Configuration | PX4 Guide (main)

Standard Configuration | PX4 Guide (main)

Vehicle (Frame) Selection | PX4 Guide (main)

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

Rovers | PX4 Guide (main)