search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
7.96k stars 13.26k forks source link

Motor spin up sequence for coaxial helicopter #22771

Open PrcsnFlyer opened 5 months ago

PrcsnFlyer commented 5 months ago

Describe problem solved by the proposed feature

One of the main benefits of a coaxial helicopter is its compact shape. For storage and transportation usually the rotor blades will be folded down. Before takeoff the rotor blades need to be unfolded so they don't clash. In the current airframe configuration (Helicopter - Coaxial) both motors start spinning at the same time. Under various circumstances this can result in clashing rotor blades.

Describe your preferred solution

Create a parameter to configure a spin up sequence. Probably similar to COM_SPOOLUP_TIME The following spin up sequences should be configurable:

  1. Spin up Motor 1 and 2 at the same time
  2. Spin up Motor 1 first, then Motor 2
  3. Spin up Motor 2 first, then Motor 1

The name of the new parameter could be COM_SPOOLUP_SEQUENCE

Describe possible alternatives

-

Additional context

-

PrcsnFlyer commented 4 months ago

@MaEtUgR as you introduced the code for the Coaxial Helicopter Airframe. Does my suggestions makes sense to you?