Hi ArduPilot Community,
(Note: English is not my native language and this text was translated with the help of Gemini, so please excuse any phrasing errors).
I am designing a high-endurance UAV for SAR missions that combines three flight modes into one airframe. I am looking for advice on the starting firmware/architecture strategy.
The Concept: like SUTD Transformable HOvering Rotorcraft (THOR)
Mode 1 (Takeoff/Landing): Bi-Copter Tailsitter mode (Vertical, non-spinning body).
Mode 2 (Cruise): Forward flight similar to a fixed-wing.
Mode 3 (High-Efficiency Loiter): The entire airframe spins on the Yaw axis (Monocopter/Samara mode) to generate lift.
The Hardware Architecture:
Main FC: Mounted on the Wing/Body (Center of Gravity). Controls the motors.
Payload: Mounted on a Slip Ring. It is de-spun (stationary relative to the ground) to provide stable video and telemetry.
My Questions for the Devs:
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Base Firmware Strategy: Would you recommend starting with ArduPlane (configured as a Dual Motor Tailsitter) and using Lua Scripting to force the “Spinning Mode”? Or is ArduCopter a better base for this kind of aggressive yaw control logic?
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Gyro Saturation & EKF Switching: During the “Spinning Mode”, I am worried about saturating the internal Gyro of the Main FC.
Idea: I plan to install a Secondary small FC/IMU on the de-spun payload (which is static/stable).
Question: Is it feasible to pass attitude data and switch the EKF’s primary attitude source mid-flight via Lua? (e.g., Use Internal IMU for Tailsitter mode → Switch to External Payload IMU for Spinning mode).
Any guidance on the parameter architecture or similar reference projects would be amazing.
Technical References and Prototype Demonstration Videos:
VIDEO Prototype v3.1 without payload
PRINCIPAL REFERENCE:
Thanks!