SITL Tailsitter tuning fixes and add quadtailsitter #21773
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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>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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>
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Port of #20558 to 1.14.
I realized that we have these tailsitter SITL fixes not yet in 1.14. Without it the normal tailsitter (
make px4_sitl_default gazebo_tailsitter) has a ton of oscillation in Hover and the control surface less quadtailsitter target doesn't exist yet (make px4_sitl_default gazebo_quadtailsitter).