Hi,
We are building a experimental 1:1 scale sail boat and Ardupilot Boat will control it. The boat has the following characteristics.
Boat hull: Catamaran
Sail: A rotatable fixed wing
Rudders: Two, but steering is combined
Thrusters: Two, they can rotate 180 degrees and angle & thrust control is separately
I’ve been researching the docs to get the correct parameters. We have some options regarding steering, and I would like to discuss the options here.
In Auto/Loiter/RTL/AUTO mode, the steering should be done with the rudders. When speed drops below SAIL_WNDSPD_MIN the throttle/thrusters are used to assist. Then we have multiple options to steer;
- Rudders
- Vector thrusting
- Skid steering
How do we set Ardupilot to choose the desired steering in these modes?
Secondly, in Manual mode, is there a way to toggle between the desired steering options?
Kind regards,
Bastiaan