Weather Vane for pure multirotors

PX4 Autopilot
1

Hello everyone,

I was wondering…why the weather vane functionality is not available for pure multirotors and only VTOLs? I would like to use with pure multirotors also, so I went into the code but I could not identify why that is the case. Would anyone know what is the dataflow for the WeatherVane object to override/change the yaw on the VTOL controller while on hovering state?

Thanks in advance,

2

Nevermind, followed the _wv_controller object and found in Flight Task Mode module where it makes the WeatherVane object to react only for Vtols vehicles. Commented that part and now it works for multirotors also. I guess that If you want it to be “safer” you can add a check for pure multirotors together with the one there for vtols. Still, I don’t know the reason to make it available only for vtol vehicles.

3

@MaEtUgR should we drop the if(VTOL) for WV?

4

@sfuhrer If you do, ping me!