Re: [Paparazzi-devel] BODY_TO_IMU Rotation for Hovering VTOL Fixed-wing

[Roman Krashanitsa]

Chris,

 

Most possibly, yes. Also this is easy to check - just make modifications and look at the telemetry values, it should show 0 deg pitch at aircraft hovering orientation.

 

Roman

2012/2/17 Chris Wozny <address@hidden>

All,

If I have a fixed-wing aircraft capable of hovering at high angle of attack (80-90 degrees), would it be possible for me to just change the BODY_TO_IMU rotation for theta to that angle of attack so that it could hover at that angle? I'm sure I'd have to adjust some PID gains for it to function properly. Also, if this is possible, would I have to worry about singularities at that angle even though I'm using complementary quaternions on the dev branch?

Best,
Chris
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