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SITL Tailsitter tuning fixes and add quadtailsitter #21773

Merged
merged 5 commits into from
Jun 29, 2023
Merged

SITL Tailsitter tuning fixes and add quadtailsitter #21773

merged 5 commits into from
Jun 29, 2023

Commits on Jun 29, 2023

  1. Support quadtailsitter in SITL

    @Jaeyoung-Lim @sfuhrer
    Jaeyoung-Lim authored and sfuhrer committed Jun 29, 2023
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  2. ROMFS: initial quadtailsitter tuning 

    This is now using the advanced lift drag plugin.

The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.

The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.

Signed-off-by: Julian Oes <julian@oes.ch>
    @julianoes @sfuhrer
    julianoes authored and sfuhrer committed Jun 29, 2023
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  3. ROMFS: quadtailsitter SITL config: improve tuning 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jun 29, 2023
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  4. ROMFS: tailsitter SITL config: improve tuning after model changes 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jun 29, 2023
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  5. ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s 

    5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jun 29, 2023
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