sih: add tailsitter support, disable UAVCAN

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -15,6 +15,8 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -15,6 +15,8 @@
 set MIXER AERT
 set PWM_OUT 1234
 
+param set UAVCAN_ENABLE 0
+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -0,0 +1,61 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_COUNT 2
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -40,6 +40,7 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
+	1102_tailsitter_duo_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -90,4 +90,5 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
+	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -0,0 +1,39 @@
+Tailsitter duo mixer
+============================
+
+This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
+on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
+at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
+
+Motor mixer
+------------
+Channel 1 connects to the right (starboard) motor.
+Channel 2 connects to the left (port) motor.
+
+R: 2-
+
+Zero mixer (2x)
+---------------
+Channels 3,4 are unused.
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+Channel 5 connects to the right (starboard) elevon.
+Channel 6 connects to the left (port) elevon.
+Here we saturate the elevons before their full range
+to avoid roll-pitch-yaw coupling during faster maneuvers
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1   10000   10000    0 -6000  6000
+
+M: 2
+S: 1 0   10000   10000    0 -6000  6000
+S: 1 1  -10000  -10000    0 -6000  6000

Tools/jmavsim_run.sh

@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loa" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,7 +40,10 @@ while getopts ":b:d:p:qsr:f:i:loa" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft
+			extra_args="$extra_args -fw" # aircraft model
+			;;
+		t)
+			extra_args="$extra_args -ts" # tailsitter model
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2

src/modules/sih/aero.hpp

@@ -124,18 +124,19 @@ private:
 	float _alpha_min; 	// min angle of attack (stall angle)
 	float _alpha_max;	// min angle of attack (stall angle)
 	float _alf0eff;		// effective zero lift angle of attack
-	float _alfmeff;		// effective maximum lift angle of attack
+	// float _alfmeff;		// effective maximum lift angle of attack
 	float _alpha_eff;	// effectie angle of attack
-	float _alpha_eff_dot;	// effectie angle of attack derivative
+	// float _alpha_eff_dot;	// effectie angle of attack derivative
 	float _alpha_eff_old;	// angle of attack [rad]
 
 	float _pressure; 	// pressure in Pa at current altitude
 	float _temperature;	// temperature in K at current altitude
 	float _prop_radius;	// propeller radius [m], used to create the slipstream
-	float _v_slipstream;	// slipstream velocity [m/s], computed from momentum theory
+	// float _v_slipstream;	// slipstream velocity [m/s], computed from momentum theory
 
 	matrix::Vector3f _Fa;	// aerodynamic force
 	matrix::Vector3f _Ma;	// aerodynamic moment computed at _CM directly
+	matrix::Vector3f _v_S;	// velocity in segment frame
 
 public:
 
@@ -144,7 +145,7 @@ public:
 		AeroSeg(1.0f, 0.2f, 0.0f, matrix::Vector3f());
 	}
 
-	/** public explicit constructor
+	/** public constructor
 	 * AeroSeg(float span, float mac, float alpha_0_deg, matrix::Vector3f p_B, float dihedral_deg = 0.0f,
 	 * float AR = -1.0f, float cf = 0.0f, float prop_radius=-1.0f, float cl_alpha=2.0f*M_PI_F, float alpha_max_deg=0.0f, float alpha_min_deg=0.0f)
 	 *
@@ -161,9 +162,9 @@ public:
 	 * alpha_max_deg: maximum angle of attack before stall. Setting to 0 (default) will compute it from a table for flat plate.
 	 * alpha_min_deg: maximum negative angle of attack before stall. Setting to 0 (default) will compute it from a table for flat plate.
 	 */
-	explicit AeroSeg(float span, float mac, float alpha_0_deg, matrix::Vector3f p_B, float dihedral_deg = 0.0f,
-			 float AR = -1.0f, float cf = 0.0f, float prop_radius = -1.0f, float cl_alpha = 2.0f * M_PI_F,
-			 float alpha_max_deg = 0.0f, float alpha_min_deg = 0.0f)
+	AeroSeg(float span, float mac, float alpha_0_deg, matrix::Vector3f p_B, float dihedral_deg = 0.0f,
+		float AR = -1.0f, float cf = 0.0f, float prop_radius = -1.0f, float cl_alpha = 2.0f * M_PI_F,
+		float alpha_max_deg = 0.0f, float alpha_min_deg = 0.0f)
 	{
 		static const float AR_tab[N_TAB] = {0.1666f, 0.333f, 0.4f, 0.5f, 1.0f, 1.25f, 2.0f, 3.0f, 4.0f, 6.0f};
 		static const float ale_tab[N_TAB] = {3.00f, 3.64f, 4.48f, 7.18f, 10.20f, 13.38f, 14.84f, 14.49f, 9.95f, 12.93f, 15.00f, 15.00f};
@@ -217,32 +218,35 @@ public:
 	 * def: flap deflection angle [rad], default is 0.
 	 * thrust: thrust force [N] from the propeller to compute the slipstream velocity, default is 0.
 	 */
-	void update_aero(matrix::Vector3f v_B, matrix::Vector3f w_B, float alt = 0.0f, float def = 0.0f, float thrust = 0.0f)
+	void update_aero(const matrix::Vector3f &v_B, const matrix::Vector3f &w_B, float alt = 0.0f, float def = 0.0f,
+			 float thrust = 0.0f)
 	{
 		// ISA model taken from Mustafa Cavcar, Anadolu University, Turkey
 		_pressure = P0 * powf(1.0f - 0.0065f * alt / T0_K, 5.2561f);
 		_temperature = T0_K + TEMP_GRADIENT * alt;
 		_rho = _pressure / R / _temperature;
 
-		matrix::Vector3f vel = _C_BS.transpose() * (v_B + w_B % _p_B); 	// velocity in segment frame
+		_v_S = _C_BS.transpose() * (v_B + w_B % _p_B); 	// velocity in segment frame
 
 		if (_prop_radius > 1e-4f) {
 			// Add velocity generated from the propeller and thrust force.
 			// Computed from momentum theory.
 			// For info, the diameter of the slipstream is sqrt(2)*_prop_radius,
 			// this should be the width of the segment in the slipstream.
-			vel(0) += sqrtf(2.0f * thrust / (_rho * M_PI_F * _prop_radius * _prop_radius));
+			_v_S(0) += sqrtf(2.0f * thrust / (_rho * M_PI_F * _prop_radius * _prop_radius));
 		}
 
-		float vxz2 = vel(0) * vel(0) + vel(2) * vel(2);
+		float vxz2 = _v_S(0) * _v_S(0) + _v_S(2) * _v_S(2);
 
 		if (vxz2 < 0.01f) {
 			_Fa = matrix::Vector3f();
 			_Ma = matrix::Vector3f();
+			_alpha = 0.0f;
 			return;
 		}
 
-		_alpha = atan2f(vel(2), vel(0)) - _alpha_0;
+		_alpha = matrix::wrap_pi(atan2f(_v_S(2), _v_S(0)) - _alpha_0);
+		// _alpha = atan2f(_v_S(2), _v_S(0));
 		aoa_coeff(_alpha, sqrtf(vxz2), def);
 		_Fa = _C_BS * (0.5f * _rho * vxz2 * _span * _mac) * matrix::Vector3f(_CL * sinf(_alpha) - _CD * cosf(_alpha),
 				0.0f,
@@ -254,6 +258,12 @@ public:
 	// return the air density at current altitude, must be called after update_aero()
 	float get_rho() const { return _rho; }
 
+	// return angle of attack in radians
+	float get_aoa() const {return _alpha;}
+
+	// return the aspect ratio
+	float get_ar() const {return _ar;}
+
 	// return the sum of aerodynamic forces of the segment in the body frame, taken at the _CM,
 	// must be called after update_aero()
 	matrix::Vector3f get_Fa() const { return _Fa; }
@@ -262,6 +272,9 @@ public:
 	// must be called after update_aero()
 	matrix::Vector3f get_Ma() const { return _Ma; }
 
+	// return the velocity in segment frame
+	matrix::Vector3f get_vS() const { return _v_S; }
+
 private:
 
 	// low angle of attack and stalling region coefficient based on flat plate
@@ -412,8 +425,8 @@ private:
 		       + 0.17f * _fle * _fle * KV * fabsf(sinf(a)) * sinf(a);
 	}
 
-	// AeroSeg operator*(const float k) const {
-	// 	return AeroSeg(p_I*k, v_I*k, q*k, w_B*k);
+	// AeroSeg operator=(const AeroSeg&) const {
+	// 	return this;
 	// }
 
 	// AeroSeg operator+(const States other) const {

src/modules/sih/sih.cpp

@@ -72,7 +72,7 @@ Sih::Sih() :
 	_gt_time = task_start;
 	_dist_snsr_time = task_start;
 	_vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast<typeof _sih_vtype.get()>(0),
-					  static_cast<typeof _sih_vtype.get()>(1));
+					  static_cast<typeof _sih_vtype.get()>(2));
 }
 
 Sih::~Sih()
@@ -199,7 +199,8 @@ void Sih::parameters_updated()
 	_I(0, 2) = _I(2, 0) = _sih_ixz.get();
 	_I(1, 2) = _I(2, 1) = _sih_iyz.get();
 
-	_Im1 = inv(_I);
+	// guards against too small determinants
+	_Im1 = 100.0f * inv(static_cast<typeof _I>(100.0f * _I));
 
 	_mu_I = Vector3f(_sih_mu_x.get(), _sih_mu_y.get(), _sih_mu_z.get());
 
@@ -267,7 +268,8 @@ void Sih::read_motors()
 
 	if (_actuator_out_sub.update(&actuators_out)) {
 		for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
-			if (_vehicle == VehicleType::FW && i < 3) { // control surfaces in range [-1,1]
+			if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS
+					&& i > 3)) { // control surfaces in range [-1,1]
 				_u[i] = constrain(2.0f * (actuators_out.output[i] - pwm_middle) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), -1.0f, 1.0f);
 
 			} else { // throttle signals in range [0,1]
@@ -293,12 +295,19 @@ void Sih::generate_force_and_torques()
 		_T_B = Vector3f(_T_MAX * _u[3], 0.0f, 0.0f); 	// forward thruster
 		// _Mt_B = Vector3f(_Q_MAX*_u[3], 0.0f,0.0f); 	// thruster torque
 		_Mt_B = Vector3f();
-		generate_aerodynamics();
-	}
+		generate_fw_aerodynamics();
+
+	} else if (_vehicle == VehicleType::TS) {
+		_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (_u[0] + _u[1]));
+		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (_u[1] - _u[0]), 0.0f, _Q_MAX * (_u[1] - _u[0]));
+		generate_ts_aerodynamics();
 
+		// _Fa_I = -_KDV * _v_I;   // first order drag to slow down the aircraft
+		// _Ma_B = -_KDW * _w_B;   // first order angular damper
+	}
 }
 
-void Sih::generate_aerodynamics()
+void Sih::generate_fw_aerodynamics()
 {
 	_v_B = _C_IB.transpose() * _v_I; 	// velocity in body frame [m/s]
 	float altitude = _H0 - _p_I(2);
@@ -309,11 +318,36 @@ void Sih::generate_aerodynamics()
 	_fuselage.update_aero(_v_B, _w_B, altitude);
 	_Fa_I = _C_IB * (_wing_l.get_Fa() + _wing_r.get_Fa() + _tailplane.get_Fa() + _fin.get_Fa() + _fuselage.get_Fa())
 		- _KDV * _v_I; 	// sum of aerodynamic forces
-	// _Ma_B = wing_l.Ma + wing_r.Ma + tailplane.Ma + fin.Ma + flap_moments() -_KDW * _w_B; 	// aerodynamic moments
 	_Ma_B = _wing_l.get_Ma() + _wing_r.get_Ma() + _tailplane.get_Ma() + _fin.get_Ma() + _fuselage.get_Ma() - _KDW *
 		_w_B; 	// aerodynamic moments
 }
 
+void Sih::generate_ts_aerodynamics()
+{
+	_v_B = _C_IB.transpose() * _v_I; // velocity in body frame [m/s]
+	Vector3f Fa_ts = Vector3f();
+	Vector3f Ma_ts = Vector3f();
+	Vector3f v_ts = _C_BS.transpose() *
+			_v_B; // the aerodynamic is resolved in a frame like a standard aircraft (nose-right-belly)
+	Vector3f w_ts = _C_BS.transpose() * _w_B;
+	float altitude = _H0 - _p_I(2);
+
+	for (int i = 0; i < NB_TS_SEG; i++) {
+		if (i <= NB_TS_SEG / 2) {
+			_ts[i].update_aero(v_ts, w_ts, altitude, _u[5]*TS_DEF_MAX, _T_MAX * _u[1]);
+
+		} else {
+			_ts[i].update_aero(v_ts, w_ts, altitude, -_u[4]*TS_DEF_MAX, _T_MAX * _u[0]);
+		}
+
+		Fa_ts += _ts[i].get_Fa();
+		Ma_ts += _ts[i].get_Ma();
+	}
+
+	_Fa_I = _C_IB * _C_BS * Fa_ts - _KDV * _v_I; 	// sum of aerodynamic forces
+	_Ma_B = _C_BS * Ma_ts - _KDW * _w_B; 	// aerodynamic moments
+}
+
 // apply the equations of motion of a rigid body and integrate one step
 void Sih::equations_of_motion()
 {
@@ -328,7 +362,7 @@ void Sih::equations_of_motion()
 
 	// fake ground, avoid free fall
 	if (_p_I(2) > 0.0f && (_v_I_dot(2) > 0.0f || _v_I(2) > 0.0f)) {
-		if (_vehicle == VehicleType::MC) {
+		if (_vehicle == VehicleType::MC || _vehicle == VehicleType::TS) {
 			if (!_grounded) {    // if we just hit the floor
 				// for the accelerometer, compute the acceleration that will stop the vehicle in one time step
 				_v_I_dot = -_v_I / _dt;
@@ -356,7 +390,7 @@ void Sih::equations_of_motion()
 			_v_I = _v_I + _v_I_dot * _dt;
 			Eulerf RPY = Eulerf(_q);
 			RPY(0) = 0.0f;	// no roll
-			RPY(1) = radians(0.0f); 	// pitch slightly up to get some lift
+			RPY(1) = radians(0.0f); // pitch slightly up if needed to get some lift
 			_q = Quatf(RPY);
 			_w_B.setZero();
 			_grounded = true;
@@ -366,7 +400,7 @@ void Sih::equations_of_motion()
 		// integration: Euler forward
 		_p_I = _p_I + _p_I_dot * _dt;
 		_v_I = _v_I + _v_I_dot * _dt;
-		_q = _q * _dq; // as given in attitude_estimator_q_main.cpp
+		_q = _q * _dq;
 		_q.normalize();
 		// integration Runge-Kutta 4
 		// rk4_update(_p_I, _v_I, _q, _w_B);
@@ -558,10 +592,16 @@ Vector3f Sih::noiseGauss3f(float stdx, float stdy, float stdz)
 int Sih::print_status()
 {
 	if (_vehicle == VehicleType::MC) {
-		PX4_INFO("Running MC");
+		PX4_INFO("Running MultiCopter");
 
-	} else {
-		PX4_INFO("Running FW");
+	} else if (_vehicle == VehicleType::FW) {
+		PX4_INFO("Running Fixed-Wing");
+
+	} else if (_vehicle == VehicleType::TS) {
+		PX4_INFO("Running TailSitter");
+		PX4_INFO("aoa [deg]: %d", (int)(degrees(_ts[4].get_aoa())));
+		PX4_INFO("v segment (m/s)");
+		_ts[4].get_vS().print();
 	}
 
 	PX4_INFO("vehicle landed: %d", _grounded);
@@ -581,8 +621,8 @@ int Sih::print_status()
 	_Fa_I.print();
 	PX4_INFO("Aerodynamic moments body frame (Nm)");
 	_Ma_B.print();
-	PX4_INFO("v_I.z: %f", (double)_v_I(2));
-	PX4_INFO("v_I_dot.z: %f", (double)_v_I_dot(2));
+	PX4_INFO("Thruster moments in body frame (Nm)");
+	_Mt_B.print();
 	return 0;
 }
 

src/modules/sih/sih.hpp

@@ -45,10 +45,13 @@
 //     In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573-6580. IEEE, 2018.
 // The aerodynamic model is from [2]
 // [2] Khan W, supervised by Nahon M, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles."
-//     McGill University, PhD thesis, 2016.
+//     McGill University (Canada), PhD thesis, 2016.
 // The quaternion integration are from [3]
 // [3] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration for the Quaternion Kinematics."
 //     Journal of Guidance, Control, and Dynamics. 2019 Dec;42(12):2747-54.
+// The tailsitter model is from [4]
+// [4] Chiappinelli R, supervised by Nahon M, "Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
+//     McGill University (Canada), Masters Thesis, 2018.
 
 #pragma once
 
@@ -143,7 +146,7 @@ private:
 	uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
 
 	// hard constants
-	static constexpr uint16_t NB_MOTORS = 4;
+	static constexpr uint16_t NB_MOTORS = 6;
 	static constexpr float T1_C = 15.0f;                        // ground temperature in celcius
 	static constexpr float T1_K = T1_C - CONSTANTS_ABSOLUTE_NULL_CELSIUS;   // ground temperature in Kelvin
 	static constexpr float TEMP_GRADIENT  = -6.5f / 1000.0f;    // temperature gradient in degrees per metre
@@ -165,7 +168,8 @@ private:
 	void send_airspeed();
 	void send_dist_snsr();
 	void publish_sih();
-	void generate_aerodynamics();
+	void generate_fw_aerodynamics();
+	void generate_ts_aerodynamics();
 
 	perf_counter_t  _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 	perf_counter_t  _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
@@ -197,7 +201,7 @@ private:
 	matrix::Vector3f    _w_B_dot;       // body rates differential
 	float       _u[NB_MOTORS];          // thruster signals
 
-	enum class VehicleType {MC, FW};
+	enum class VehicleType {MC, FW, TS};
 	VehicleType _vehicle = VehicleType::MC;
 
 	// aerodynamic segments for the fixedwing
@@ -209,6 +213,41 @@ private:
 	AeroSeg _fin = AeroSeg(0.25, 0.18, 0.0f, matrix::Vector3f(-0.45f, 0.0f, -0.1f), -90.0f, -1.0f, 0.12f, RP);
 	AeroSeg _fuselage = AeroSeg(0.2, 0.8, 0.0f, matrix::Vector3f(0.0f, 0.0f, 0.0f), -90.0f);
 
+	// aerodynamic segments for the tailsitter
+	static constexpr const int NB_TS_SEG = 11;
+	static constexpr const float TS_AR = 3.13f;
+	static constexpr const float TS_CM = 0.115f;	// longitudinal position of the CM from trailing edge
+	static constexpr const float TS_RP = 0.0625f;	// propeller radius [m]
+	static constexpr const float TS_DEF_MAX = math::radians(39.0f); 	// max deflection
+	matrix::Dcmf _C_BS = matrix::Dcmf(matrix::Eulerf(0.0f, math::radians(90.0f), 0.0f)); // segment to body 90 deg pitch
+	AeroSeg _ts[NB_TS_SEG] = {
+		AeroSeg(0.0225f, 0.110f, 0.0f, matrix::Vector3f(0.083f - TS_CM, -0.239f, 0.0f), 0.0f, TS_AR),
+		AeroSeg(0.0383f, 0.125f, 0.0f, matrix::Vector3f(0.094f - TS_CM, -0.208f, 0.0f), 0.0f, TS_AR, 0.063f),
+		// AeroSeg(0.0884f, 0.148f, 0.0f, matrix::Vector3f(0.111f-TS_CM, -0.143f, 0.0f), 0.0f, TS_AR, 0.063f, TS_RP),
+		AeroSeg(0.0884f, 0.085f, 0.0f, matrix::Vector3f(0.158f - TS_CM, -0.143f, 0.0f), 0.0f, TS_AR),
+		AeroSeg(0.0884f, 0.063f, 0.0f, matrix::Vector3f(0.047f - TS_CM, -0.143f, 0.0f), 0.0f, TS_AR, 0.063f, TS_RP),
+		AeroSeg(0.0633f, 0.176f, 0.0f, matrix::Vector3f(0.132f - TS_CM, -0.068f, 0.0f), 0.0f, TS_AR, 0.063f),
+		AeroSeg(0.0750f, 0.231f, 0.0f, matrix::Vector3f(0.173f - TS_CM,  0.000f, 0.0f), 0.0f, TS_AR),
+		AeroSeg(0.0633f, 0.176f, 0.0f, matrix::Vector3f(0.132f - TS_CM,  0.068f, 0.0f), 0.0f, TS_AR, 0.063f),
+		// AeroSeg(0.0884f, 0.148f, 0.0f, matrix::Vector3f(0.111f-TS_CM,  0.143f, 0.0f), 0.0f, TS_AR, 0.063f, TS_RP),
+		AeroSeg(0.0884f, 0.085f, 0.0f, matrix::Vector3f(0.158f - TS_CM,  0.143f, 0.0f), 0.0f, TS_AR),
+		AeroSeg(0.0884f, 0.063f, 0.0f, matrix::Vector3f(0.047f - TS_CM,  0.143f, 0.0f), 0.0f, TS_AR, 0.063f, TS_RP),
+		AeroSeg(0.0383f, 0.125f, 0.0f, matrix::Vector3f(0.094f - TS_CM,  0.208f, 0.0f), 0.0f, TS_AR, 0.063f),
+		AeroSeg(0.0225f, 0.110f, 0.0f, matrix::Vector3f(0.083f - TS_CM,  0.239f, 0.0f), 0.0f, TS_AR)
+	};
+
+	// AeroSeg _ts[NB_TS_SEG] = {
+	// 	AeroSeg(0.0225f, 0.110f, -90.0f, matrix::Vector3f(0.0f, -0.239f, TS_CM-0.083f), 0.0f, TS_AR),
+	// 	AeroSeg(0.0383f, 0.125f, -90.0f, matrix::Vector3f(0.0f, -0.208f, TS_CM-0.094f), 0.0f, TS_AR, 0.063f),
+	// 	AeroSeg(0.0884f, 0.148f, -90.0f, matrix::Vector3f(0.0f, -0.143f, TS_CM-0.111f), 0.0f, TS_AR, 0.063f, TS_RP),
+	// 	AeroSeg(0.0633f, 0.176f, -90.0f, matrix::Vector3f(0.0f, -0.068f, TS_CM-0.132f), 0.0f, TS_AR, 0.063f),
+	// 	AeroSeg(0.0750f, 0.231f, -90.0f, matrix::Vector3f(0.0f,  0.000f, TS_CM-0.173f), 0.0f, TS_AR),
+	// 	AeroSeg(0.0633f, 0.176f, -90.0f, matrix::Vector3f(0.0f,  0.068f, TS_CM-0.132f), 0.0f, TS_AR, 0.063f),
+	// 	AeroSeg(0.0884f, 0.148f, -90.0f, matrix::Vector3f(0.0f,  0.143f, TS_CM-0.111f), 0.0f, TS_AR, 0.063f, TS_RP),
+	// 	AeroSeg(0.0383f, 0.125f, -90.0f, matrix::Vector3f(0.0f,  0.208f, TS_CM-0.094f), 0.0f, TS_AR, 0.063f),
+	// 	AeroSeg(0.0225f, 0.110f, -90.0f, matrix::Vector3f(0.0f,  0.239f, TS_CM-0.083f), 0.0f, TS_AR)
+	// 	};
+
 	// sensors reconstruction
 	matrix::Vector3f    _acc;
 	matrix::Vector3f    _mag;

src/modules/sih/sih_params.c

@@ -439,8 +439,9 @@ PARAM_DEFINE_FLOAT(SIH_T_TAU, 0.05f);
 /**
  * Vehicle type
  *
- * @value 0 MC
- * @value 1 FW
+ * @value 0 Multicopter
+ * @value 1 Fixed-Wing
+ * @value 2 Tailsitter
  * @reboot_required true
  * @group Simulation In Hardware
  */