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7ff136a020
The gz_x500 airframe configures asymmetric CA_ROTOR positions while the current Gazebo x500 model places all four rotors on a square at +/-0.174 m. Because ControlAllocator builds its effectiveness matrix from CA_ROTOR geometry, the mismatch produces a fixed roll/pitch control-effectiveness asymmetry in an otherwise symmetric simulated vehicle. Align CA_ROTOR0-3 PX/PY with the current x500 model geometry. No allocator logic, thrust model, motor ordering, KM, CT, or controller gains are changed. SITL validation with stock PX4 position control: - 4/4 takeoff/hover/step/land flights completed without errors - before: K_pitch/K_roll = 1.3804 +/- 0.0114 (OLS) - after: K_pitch/K_roll = 1.0015 +/- 0.0002 (OLS) Assisted-by: Claude:claude-opus-5 Signed-off-by: Veli Bakırcıoğlu <vbakircioglu@gmail.com>