Hi all, I’m trying to run tiltrotor VTOL HITL simulation in Gazebo Classic 11. I have connected to QGC and made the necessary modifications to the sdf file (setting serialEnabled to 1 and hilenabled to 1, as well as setting SYS_HITL to 1). QGC was able to connect as well. However, when commanded to take off (autonomous mission) from QGC, the rotors on the model simply rotate slowly and the model doesnt move at all. I have previously done this with standard vtol with no problems.
I compared the flight logs of my previous successful Standard VTOL HITL mission VS the current Tiltrotor VTOL HITL mission and discovered that the motor outputs in the Tiltrotor is only 0.1 VS 0.5 in the Standard VTOL. I think this is the cause as to why the rotors turn very slowly in the tiltrotor simulation, but I can’t figure out why this is happening since I did not change airframe parameters except for VT_TYPE and MAV_TYPE. I am using a Pixhawk 4 mini, PX4 V22.214.171.124
Can someone please point to where the problem could lie? Thank you very much.
- Edit tiltrotor sdf file in models folder: in the mavlink plugin set serialenabled to 1, serialDevice to (usb port), hilenabled to 1
- Open QGroundControl, in application settings listen only to UDP, in vehicle settings set safety setting to HIL mode, then close QGroundControl again
- Create new world file in worlds folder, include tiltrotor model
- In terminal, run:
DONT_RUN=1 make px4_sitl_default gazebo-classic
source Tools/simulation/gazebo/setup_gazebo.bash $(pwd)
- Launch QGroundControl, plan mission and takeoff
Rotors spin up fast and model takes off
Tiltrotor VTOL Flight Log:
Standard VTOL Flight Log: