SITL VTOL: scale outputs based on motor count (param VT_MOT_COUNT) #11287
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jlecoeur
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I am not sure what the CI failure is. |
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CI error in SITL tests, the problem is described in #11380 |
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irsdkv
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The VT_PSH_MOT_COUNT (push / pull motors count) parameter specifies the number of pushing / pulling motors for the copter. The default value is 1, so the old description files will be valid. This parameter is necessary because of without it you can't give a full description of the nonstandard VTOL vehicle type with several push or pull engines. For the new parameter used reserved vehicle type MAV_TYPE_VTOL_RESERVED3, which may coverage most of future nonstandard VTOL types. Thanks to Julien Lecoeur for PX4#11287.
irsdkv
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The VT_PSH_MOT_COUNT (push / pull motors count) parameter specifies the number of pushing / pulling motors for the copter. The default value is 1, so the old description files will be valid. This parameter is necessary because of without it you can't give a full description of the nonstandard VTOL vehicle type with several push or pull engines. For the new parameter used reserved vehicle type MAV_TYPE_VTOL_RESERVED3, which may coverage most of future nonstandard VTOL types. Thanks to Julien Lecoeur for PX4#11287.
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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Describe problem solved by the proposed pull request
In the SITL MAVLink module, the outputs are scaled based on the number of motors determined from the vehicle type. For tiltrotors and other types of VTOLs, the vehicle type is not sufficient to determine the number of motors.
Example: Tricopter tiltrotor with servo on 4th output. The servo output is scaled in range [0,1] (as a motor) instead of [-1, 1].
Describe your preferred solution
The parameter VT_MOT_COUNT is used to determine the number of motors and correctly scale outputs in the ranges [0,1] or [-1,1].
Describe possible alternatives
Getting rid of the dedicated simulation MAVLink module?