Hello everyone,
I am developing an custom attitude controller that I hope to run, at least in SITL, as a ROS2 node. The controller is for the Holybro x500 or the default quadcopter for PX4 SITL.
In looking the poisition of the rotors with respect to the body frame of the quadcopter. In the Gazebo description file (.sdf) this is the location of the first rotor, from this.
<pose>0.174 0.174 .032 0 0 -.45</pose>
While instead this is the same in the configuration file of the x500:
param set-default CA_ROTOR0_PX 0.13
param set-default CA_ROTOR0_PY 0.22
I am trying to build the control allocation matrix so I can publish the motor commands on the ActuatorMotors message. I was wondering which geometry should I use?
Thanks,
Riccardo
Edit:
I am using this guide as reference to develop the control allocation matrix.