In the following documentation page:
https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html
The “SET_ATTITUDE_TARGET” command is defined as follows:
“Set the vehicle’s target attitude and climb rate or thrust.”
I’m having trouble to understanding this as setting both thrust and attitude seems contradictory.
For example: if we point the nose of the airplane perpendicularly to the ground + give it a positive climb rate.
no contradictions here… that is just that your vehicle isn’t able to do the maneuver …If you got a well tuned copter or quadplane that may be possible
It’s not that “my vehicle” can’t do that maneuver - many vehicle types can’t.
Maybe I’m missing something, but how can an airplane pointing it’s nose downwards or a flipped quadcopter can have a positive climb rate ?
Does the command prioritize attitude over climb rate in case it can’t meet both ?
Same way it can do this: https://www.youtube.com/shorts/Q3e6-ZbjVUw
You just need to be able to rotate prop(s) both ways (CW and CCW).
You can set that for example in BLHeli32 as motor direction - Bidirectional 3D
What if the command is unable to achieve both ?
Does the command prioritize attitude over climb rate in case it can’t meet both ?