How to use flytos control VTOL based on ardupilot?


#1

Hi!

I have installed flytos on raspberry pi and controlled hexcopter over 4G successfully. What I want to do next is controll a VTOL vehicle.

Ardupilot guide worried me about flytos controlling a VTOL. It seems that VTOL commans differ from copters’. Is flytos competent to controll VTOL vehicles? Or is there any approach to simulate it?

Thanks!

Blockquote
The most common use of VTOL mission commands in a QuadPlane is an automatic VTOL takeoff. To use a VTOL takeoff you plan your auto mission as usual with your ground stations mission editor, but instead of a NAV_TAKEOFF command for a fixed wing takeoff you instead use a NAV_VTOL_TAKEOFF command for a VTOL takeoff.
Blockquote


#2

What are the exact commands you would be testing on VTOL?
In the meantime, I am verifying that commands will be interpreted correctly by ArduPilot VTOL.

I will also try to send you the VTOL simulator steps.


#3

Thanks for your reply.
A mission I usually set in Mission Planner is VTOL_TAKEOFF, WAYPIONT, DO_JUMP, RETURN_TO_LAUNCH and sometimes LOITER, DO_SET_CAM_TRIGG_DIST. A normal waypoints docunment is quaoted below.
I‘ll appreciate it if you can send me the VTOL simulator steps!

Blockquote
QGC WPL 110
0 1 0 16 0 0 0 0 xx.xxxxxx xxx.xxxxxx 43.180000 1
1 0 3 84 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 45.000000 1
2 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 55.000000 1
3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 80.000000 1
4 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 80.000000 1
5 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 80.000000 1
6 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 80.000000 1
7 0 3 177 3.00000000 2.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
8 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 80.000000 1
9 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 xx.xxxxxxxx xxx.xxxxxxxx 80.000000 1
10 0 3 20 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1

Blockquote


#4

Hello @Frank,

Sorry for the delay, and thanks for your patience.
I will stuck at something else. I will try to share the simulator steps as soon as possible.