SITL: fixed tilt quadplanes and re-enable then in CI FlyEachFrame #26248
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vector math was done in the wrong order
from 2 motors tilt for "quadplane-tilt". This is the most common tilt quadplane setup
and enable autotest of the disabled tilt quadplane frames
peterbarker
approved these changes
Feb 18, 2024
IamPete1
reviewed
Feb 18, 2024
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| // calculate total torque in newton-meters | ||
| torque = (position % thrust) + rotor_torque; | ||
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I think this should be after the drag calculation changes thrust on 126.
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I have done a PR to include the drag before calculating torque #26255 |
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fixed the maths for tilted rotors and the parameters for the tilted frame. Now all of them fly
also added a quadplane-tilt which is a 4 rotor quadplane with front 2 rotors tilted with vectored yaw. This is the most common tilt setup so it is nice to have it in SITL