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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Feasibility of Turtle Mode #16890

Open int-smart opened 3 years ago

int-smart commented 3 years ago

Describe problem solved by the proposed feature Is it possible to get turtle mode functionality (similar to betaflight) in PX4. This functionality is highly desirable in cases where you crash at places like roofs.

Describe your preferred solution Reverse the motor direction in this mode and enable two of the motors to spin according to direction in which you want to flip. PX4 does support DSHOT and I believe reversing motor direction should not be a problem.

dagar commented 3 years ago

Yes with DSHOT it's easy to command reverse.

https://github.com/PX4/PX4-Autopilot/blob/5dc5ebc0a1f5d9cc03b094d2fba24497b1661b72/src/drivers/drv_pwm_output.h#L282-L283

Then next you'd need to implement the basic logic to read from manual_control_setpoint and send whatever's appropriate directly to the mixer (actuator_controls_0).