I have a Flight-Review log : https://logs.px4.io/plot_app?log=d8a92768-b62a-4193-9d6a-5431149266b1
of a SITL gazebo simulation of a novel medium size out-of-plane hexacopter executing a square flight plan at 50m altitude.
It is unlikely to be well tuned, but I have no idea of what to expect and what to look for in the data.
I would like it to be conservatively tuned for reliability, not high performance.
Is there any advice from anyone with relevant experience ?
The simulation is of a physical model of dry mass 5.2 kg and angular inertia Izz = 1.38 Kg m^2, Ixx = 0.76 Kg m^2 (measured).
The angular inertia is high because the frame is a large stiff cage surrounding 6 relatively heavy 5-bladed variable-pitch rotors.
My next plan is to modify src/modules/mc_att_control/AttitudeControl.cpp to get quicker response to position errors by exploiting 6 degree-of-freedom capability. But I’m thinking it would help if I began with a vehicle that was well tuned for standard attitude-only control.
Any advice from anyone with tuning experience would be much appreciated.
Don