I’ve created a custom tilt rotor model in gazebo and can successfully connect it with the gazebo SITL. The model is a quadplane (which will have a wing in the future) and each motor arm is able to tilt forwards to transition to fixed wing flight.
The model examples that come with the plugin demonstrate how to spin a propeller but not control the angle of a joint.
In my model SDF file, how do I tell Gazebo to take the command from Ardupilot SITL and turn it into motor arm angular position? (eg 0 degrees is when the motor arm is vertical and 90 degrees is when the motor arm is tilted forward for fixed wing flight).
Thanks in advance!