SITL for a new VTOL airframe

PX4 Autopilot VTOL 🚁
1

I have a created a new air frame which has a + VTOL configuration. The Gazebo model for the same is also something I have created as in the picture below.

default_gzclient_camera(1)-2017-10-21T21_23_49.843118.jpg1025×641 29.5 KB

To simplify my job I decided to replace the model’s .sdf and .config file in the default tail sitter model (which has VTOL X configuration) that comes with the Firmware. I also changed the default tailsitters mixer in the posix-config/SITL/init/ekf2/tailsitter from the VTOL X to VTOL + configuration. I am a beginner to using PX4 and this is my first project using it. How do I proceed further?

If I give a takeoff command on gazebo the drone pitches over falls upside down. The log for the same is here Gazebo Log File

2

Replacing tailsitter can work, but all you really need to do is duplicate all those pieces, but call them something else.

Then to build and run everything together make posix_sitl_default gazebo_tailsitter.