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  • Feb 02 2021 21:00

    Georacer on master

    Added last_letter_lib as a subm… Deleted deprecated service code Deleted deprecated launcher fil… and 23 more (compare)

  • Feb 02 2021 21:00

    Georacer on ftc_journal

    Added last_letter_lib as a subm… Deleted deprecated service code Deleted deprecated launcher fil… and 23 more (compare)

  • Sep 08 2019 18:41

    Georacer on master

    Added support for randomized UA… A bit of polish in airdata calc… Added pause functionality and 4 more (compare)

  • Jun 05 2019 12:19

    Georacer on master

    Fixed custom message dependenci… (compare)

  • Dec 10 2018 14:16
    Georacer commented #63
  • Dec 10 2018 14:15

    Georacer on master

    gitflow-feature-stash: Bug_fix_… Merge pull request #63 from Mil… (compare)

  • Dec 10 2018 14:15
    Georacer closed #63
  • Dec 10 2018 14:11
    MiliStefanos opened #63
  • Dec 10 2018 13:53

    Georacer on time_lock

    First jab at Gazebo world step … (compare)

  • Dec 10 2018 13:52

    Georacer on migrate_to_gazebo

    (compare)

  • Dec 10 2018 13:52

    Georacer on migrate_to_gazebo

    Created test Gazebo Plugin ROS control of single thruster … Added Plugin for aerodynamics and 11 more (compare)

  • Dec 10 2018 13:47

    Georacer on proper_wind

    speedDot now uses relative spee… (compare)

  • Dec 10 2018 13:38

    Georacer on time_lock

    First jab at Gazebo world step … (compare)

  • Dec 10 2018 13:26

    Georacer on master

    Made Dashboard plugin compatibl… (compare)

  • Dec 10 2018 13:21
    MiliStefanos closed #61
  • Dec 10 2018 12:56

    Georacer on master

    (compare)

  • Dec 07 2018 16:25
    MiliStefanos opened #62
  • Dec 07 2018 16:04
    MiliStefanos opened #61
  • Dec 07 2018 16:04
    Georacer closed #60
  • Dec 07 2018 16:01
    MiliStefanos opened #60
George Zogopoulos-Papaliakos
@Georacer
I'll be on vacation next week, so I doubt I'll be able to put any work in last_letter.
Fredrik Hedberg
@fhedberg
@Georacer Hey! I'm working on APM support for a dual-swash helicopter tiltrotor (much like the V22 Osprey). I've flown it once fully converted in ACRO but would really want to use SITL for doing further development. I heard from @teamtiltrotor that you had a crude model working in last_letter?
George Zogopoulos-Papaliakos
@Georacer
Hello @fhedberg
last_letter development was at a pause during the last two weeks, but I believe some progress will happen from now on.
Indeed, I have done some promising work for generic wing+rotor configurations.
Fredrik Hedberg
@fhedberg
Sweet
George Zogopoulos-Papaliakos
@Georacer
Some bugs on the physics engine and lag on the APM - ROS udp communcation have held the whole thing back from being a reliable simulation resource
but I'm looking into it.
I've gotta go right now, but hopefully I'll log in again tonight. Where do you live? Are our time zones compatible?
Fredrik Hedberg
@fhedberg
Sounds great! I'm in Sweden, on CET.
George Zogopoulos-Papaliakos
@Georacer
Just -1 from me. Great.
We'll talk later. Cheers!
George Zogopoulos-Papaliakos
@Georacer
Hello @fhedberg . Are you available?
Fredrik Hedberg
@fhedberg
@Georacer Yes, for 15 min only unfortunately.
George Zogopoulos-Papaliakos
@Georacer
We'll make do.
The rest are for tomorrow.
Do you have any specific goals or questions?
Fredrik Hedberg
@fhedberg
So, i have implemented motor/mixing/tilt support in APM for a dual swashplate based tiltrotor, similar to the real V22 Osprey.
I added SITL (based on tridgesim;) support for tandem helicopter and it have been much helpful in testing.
So now I'm exploring the options for full tiltrotor simulation, that would require both dual swashplate rotor simulation and full aerodynamical control surfaces support.
George Zogopoulos-Papaliakos
@Georacer
I see.
Fredrik Hedberg
@fhedberg
I've flown in manual (ACRO/STABILIZE) before, but for doing further development, I think starting out with simulation will end up cheaper ;)
George Zogopoulos-Papaliakos
@Georacer
So you have a physics model for the swashplate or it is just thrust vectoring?
Fredrik Hedberg
@fhedberg
No physics model, it's an extension of @tridge's trad heli model in APM SITL
fhedberg/ardupilot@996a581
But that's for CH47 type tandem only, not tiltrotors.
George Zogopoulos-Papaliakos
@Georacer
Do you need to have a simulation for the swash plate dynamics or is a simple tilted brushless motor with a fixed propeller adequate?
Will your final vehicle have swash plates under the propellers?
Fredrik Hedberg
@fhedberg
My physical vehicle have dual swash plates yes, 600 size blades so it's over 2m wingspan.
But I suppose I can shim the swash plate "trustvectoring" into a titled brushless motor, if it can tilt in 2d.
George Zogopoulos-Papaliakos
@Georacer
That complicates things. Okay, two thoughts:
  1. I have to prioritize the team-tiltorotor development of a firefly Y6 model.
This uses (as you know) tilted rotors.
If you are ok with models of tilted rotors as a first approach, the adding 2-axis tilting is trivial
once I iron out the bugs which make the model unusable right now.
2 . If you need swash plate simulation, I have not done any research on it, but I know a good friend of mine who was written a trad-heli simulator with full swash-plate modelling.
I'll have to study his code and see what I can "borrow"
Naturally, this will take longer.
So, depending on your schedule, you'll have to adapt to those 2 options.
What do you think?
Fredrik Hedberg
@fhedberg
No worries, i fully understand.
George Zogopoulos-Papaliakos
@Georacer
May I ask: What is the premise of your efforts? Hobby? Studies research?
Fredrik Hedberg
@fhedberg
The swash plate simulation is not too important at the moment, a simple 2 rotor bi-copter with tiltable rotors and regular airplane control-surfaces would be awesome.
Pure hobby :)
George Zogopoulos-Papaliakos
@Georacer
Do you want the wings to tilt with the rotors as well? Do you have a sketch or a picture of your vehicle?
Fredrik Hedberg
@fhedberg
So fixed wings. Rotating nacelles.
George Zogopoulos-Papaliakos
@Georacer
How does that work during hover? How does this stabilize itself in the pitch axis?
Fredrik Hedberg
@fhedberg
Pitching the swashplates.
George Zogopoulos-Papaliakos
@Georacer
Ah, right.
Fredrik Hedberg
@fhedberg
Code for helicopter mode is here: diydrones/ardupilot#1860