Copter 3.5 Sitl Hexa

Hello,
i’m trying to test another control law (Sliding mode) instead of PID, it works fine in sitl for a quad model.
My question is , how can i run sitl for an hexa in copter 3.5 ? Since the command " make sitl-hexa" does not work anymore.
Thanks and sorry for bad english.

All frames classes (except heli) are now in the same binary, you then have to set FRAME_CLASS to the one you want.

thenks for replying
I tried to do that.
after entering the command ‘make sitl’ with cygwin.
and then doing ’ ./ArduCopter.elf --model hexa’
and connecting it to Mission planner , and setting FRAME_CLASS to 2 (for hexa) , the copter goes crazy and i get lot of errors .
I am sure that this in not caused by the new control law since it works fine with a ‘quad’

i’m trying to test another control law (Sliding mode) instead of PID, it
works fine in sitl for a quad model.

Great! Feel free to jump onto the Research gitter channel for this sort
of stuff. We’d love to see graphs comparing control under the different
regimes.

My question is , how can i run sitl for an hexa in copter 3.5 ? Since the
command " make sitl-hexa" does not work anymore.

3.5 has removed most of the sub-frame builds - heli remains as a separate
compilation option.

You can now set the FRAME_CLASS parameter - see ArduCopter/Parameters.cpp
for your options there.

Peter

That doesn’t give much information. What errors do you get?

after entering the command ‘make sitl’ with cygwin.
and then doing ’ ./ArduCopter.elf --model hexa’
and connecting it to Mission planner , and setting FRAME_CLASS to 2 (for hexa) , the copter goes crazy and i get lot of errors .
I am sure that this in not caused by the new control law since it works fine with a ‘quad’

You will need to supply a default parameters file suitable for hexa.

Check out what sim_vehicle.py does to do that.

Peter

Hello Peter,
yes it will be my pleasure to do so,
here are some Matlab plots of a Sitl mission if you wish to see.
One with Sliding mode
and another with adaptive sliding mode

in fact, it just goes crazy all around , i cant figure out what the problem is exactly,
i will try to use the default param to see what i get.
Thank you .

I will give it a try ,
thank you peter.