Having Hard Time Making a Tilt-Tri-Quadplane Simulation

ArduPlane
1

Hello There, I am a newbie trying to simulate a tilt-tri-quadplane using Gazebo and Ardupilot SITL but after a long attempt I am having hard time so far. Can someone help me to build this simulation and show my mistakes? These are my parameters and sdf files.
tilttriquadplane.zip (6.2 KB)

2

You haven’t given 3d file for the model in tilttriquadplane.zip

model://tiltrotor_3/meshes/base_link.STL
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3

Because they are heavier than 4 mB I couldnt upload here. Should I upload ?

4

share me after uploading on drive or mail me at rahulec1999@gmail.com. I will try to solve it

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5

This is my mesh folder

6

got it, will let you know

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7

tilt_Sag.STL and tilt_Sol.STL is missing.

8

Oh sorry, look this one

9

I have requested for the drive access to download

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10

Now, you are able to access, right?

11

Yes, I got it, plugins have some issues. Can you explain what is the issue you are exactly facing. Are you using gazebo-11 or older.

12

I am using Gazebo Harmonic. The problem is I couldn’t make the plane fly or even I couldnt manage to test servos, motors. When I try to run SITL suddenly motors are running. When I try to take off nothing happens

13

<fdm_port_out>9003</fdm_port_out> add this after line 829 for fdm-out port in model.sdf file.

14

Thanks for your effort, are there any more advice you can give?

15

Hi @mesad - there is an example of a tilt-rotor tricopter - plane here: Gazebo: add MiniHawk-VTOL by srmainwaring · Pull Request #102 · ArduPilot/SITL_Models · GitHub that may help you get your vehicle configured.

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16

all front two motors are ccw rotation motors, motor_arka should be cw motor, change its spin direction

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17

Earlier none of the motors are producing thrust, right now they are creating thrust, only direction need to be changed.