SkywalkerX8.md

Skywalker X8 QuadPlane

Models for the Skywalker X8 in plane and quad-plane configurations for use with ArduPilot.

Usage

Gazebo and the plugins should be installed as per the ArduPilot Gazebo Plugin instructions.

Update the GZ_SIM_RESOURCE_PATH to include these models:

export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
$HOME/SITL_Models/Gazebo/models:\
$HOME/SITL_Models/Gazebo/worlds

skywalker_x8

An X8 configured as a delta-wing plane.

Run Gazebo

gz sim -v4 -r skywalker_x8_runway.sdf

Run ArduPilot SITL

sim_vehicle.py -v ArduPlane --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/skywalker_x8.param --console --map

skywalker_x8_quad

An X8 configured as a delta-wing quad plane.

Run Gazebo

gz sim -v4 -r skywalker_x8_quad_runway.sdf

Run ArduPilot SITL

sim_vehicle.py -v ArduPlane --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/skywalker_x8_quad.param --console --map

Notes

• The plane / quad-plane parameters have been auto-tuned for regular flight. The Q-modes are using default parameters.
• The quad plane has been set up as an H-frame as the original configuration as an X-frame had such poor yaw authority the vehicle could not be controlled when transitioning from FBWA flight back to Q modes.
• Additional yaw authority is provided by rotating the VTOL motors 3 degrees towards the centreline.

Credits

The model is adapted from the standard_vtol model available from these repos:

• https://github.com/SwiftGust/ardupilot_gazebo/tree/master/models/standard_vtol
• https://github.com/PX4/PX4-SITL_gazebo/tree/master/models/standard_vtol

Textures were adapted from:

• https://github.com/ArduPilot/SITL_Models/tree/master/RealFlight/WIP/Tridge/QuadPlane/X8TiltTri