SkyCatTVBS.md

SkyCat TVBS QuadPlane

A model for a SkyCat TVBS QuadPlane. It is derived from the RF version in SITL_Models

Usage

Gazebo and the plugins should be installed as per the ArduPilot Gazebo Plugin instructions.

Update the GZ_SIM_RESOURCE_PATH to include these models:

export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
$HOME/SITL_Models/Gazebo/models:\
$HOME/SITL_Models/Gazebo/worlds

Run Gazebo

gz sim -v4 -r skycat_runway.sdf

Run ArduPilot SITL

sim_vehicle.py -v ArduPlane --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/skycat_tvbs.param --console --map

Testing

The tailsitter has a basic tune so that it is operational, but it could be much improved. The aerodynamics model (the lift-drag system plugin) does not account for prop-wash or similar effects, so the simulation is illustrative rather than realistic.

Takeoff

skywalker_tvbs_takeoff.mov

Transition from QSTABILIZE to FBWA

skywalker_tvbs_qstab2fbwa.mov

Transition from FBWA to QLAND

skywalker_tvbs_fbwa2qland.mov