Veli Bakırcıoğlu 7ff136a020 fix(simulation): align gz_x500 rotor geometry with model ...

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>

2026-08-21 21:38:20 -07:00

..

init.d

feat(driver/dlvr): add support for dlvr airspeed-sensors (#26363)

2026-08-21 11:28:04 +02:00

init.d-posix

fix(simulation): align gz_x500 rotor geometry with model

2026-08-21 21:38:20 -07:00

CMakeLists.txt

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