added qtailsitter

alireza787b · Oct 2, 2024 · bc49825 · bc49825
1 parent 0c485d3
commit bc49825
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Showing 2 changed files with 37 additions and 2 deletions.
diff --git a/config/config.ini b/config/config.ini
@@ -16,7 +16,7 @@
 
 ; Configuration Name (Displayed in UI)
 ; Change this name to switch between different aircraft configurations (e.g., ehang184 or Cessna172).
-config_name = TB2
+config_name = Alia250
 
 
 ;------------------------------------------------------------------------------------------
@@ -212,3 +212,38 @@ channel6 = sim/flightmodel/controls/wing1r_flap1def, float, 0, [0 40]
 # Type: float
 # Range: [0 40] (degrees of deflection)
 channel7 = sim/flightmodel/controls/wing1l_flap1def, float, 0, [0 40]
+
+;------------------------------------------------------------------------------------------
+[QuadTailsitter]
+
+; Configuration for the control surface-less Quad Tailsitter.
+; This mapping defines the four motor outputs from PX4 to the corresponding X-Plane datarefs.
+; The aircraft uses four high KV motors for control via differential thrust.
+
+; Motor 1 (PX4 Channel 0 mapped to X-Plane Engine 1)
+; Dataref: sim/flightmodel/engine/ENGN_thro_use[0]
+; Type: floatArray
+; Range: [0 1] (idle to full throttle)
+; Description: Controls the throttle of Motor 1.
+channel0 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [0], [0 1]
+
+; Motor 2 (PX4 Channel 1 mapped to X-Plane Engine 2)
+; Dataref: sim/flightmodel/engine/ENGN_thro_use[1]
+; Type: floatArray
+; Range: [0 1] (idle to full throttle)
+; Description: Controls the throttle of Motor 2.
+channel1 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [1], [0 1]
+
+; Motor 3 (PX4 Channel 2 mapped to X-Plane Engine 3)
+; Dataref: sim/flightmodel/engine/ENGN_thro_use[2]
+; Type: floatArray
+; Range: [0 1] (idle to full throttle)
+; Description: Controls the throttle of Motor 3.
+channel2 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [2], [0 1]
+
+; Motor 4 (PX4 Channel 3 mapped to X-Plane Engine 4)
+; Dataref: sim/flightmodel/engine/ENGN_thro_use[3]
+; Type: floatArray
+; Range: [0 1] (idle to full throttle)
+; Description: Controls the throttle of Motor 4.
+channel3 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [3], [0 1]
diff --git a/setup/setup_px4_sitl.sh b/setup/setup_px4_sitl.sh
@@ -83,7 +83,7 @@ DEFAULT_CONFIG_FILE="$HOME/.px4sitl_config"
 DEFAULT_FALLBACK_IP="127.0.0.1"
 SCRIPT_NAME="px4xplane_script.sh"
 MAVLINK2REST_IP="127.0.0.1"
-PLATFORM_CHOICES=("xplane_ehang184" "xplane_alia250" "xplane_cessna172" "xplane_tb2")
+PLATFORM_CHOICES=("xplane_ehang184" "xplane_alia250" "xplane_cessna172" "xplane_tb2" "xplane_qtailsitter)
 
 # === MAVLink Router Configuration ===
 USE_MAVLINK_ROUTER=true  # Set to true to enable MAVLink Router installation and setup