@hari.krish3n wrote:
Hey everyone
I am working on a bi-copter design with tilt-rotors without using cyclic pitch. The thing is that there seems to be no stable Ardupilot firmware support for such a design. So I have to use the tail-sitter code and build upon that. I had been following a similar thread(VTOL TIlt Rotor with 2 front rotors tilting). Peter did a great job building a custom code for Ardupilot by modifying the tailsitter code. I have been using the same code. However, the servos( and hence the motors) can only tilt in one direction(either only forward or only backward). So the autopilot is not able to make the auto-corrections that involves a tilt in the other direction. I just need to modify the code a little bit to get the motors tilting either way. I am attaching the servos.cpp and tiltrotors.cpp files
(servos.cpp (35.7 KB)
)
(Tilt_rotor.cpp (14.4 KB)
)
Can anyone please tell me which part of the code I need to modify or what functions I need to add into the code. I am using a Pixhawk Cube flight controller.
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