autotest: add QuadPlane TiltrotorVectoringRoll test - #19
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Checks that a vectored-yaw tiltrotor tilts its rotors the correct way for a roll demand. Tilting a rotor forward reduces its vertical thrust, so a right roll demand must tilt the left rotor back, which is the opposite of the tilt used for a right yaw demand. The vehicle is armed on the ground in QACRO with air mode on, where SITL holds it level with zero body rates, so a stick demand gives a steady rate controller output. Manual tilt control via the FWD_THR RC option puts the rotors near Q_TILT_MAX so the sin(tilt) roll term dominates the cos(tilt) yaw term. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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Summary
adds a test for poor tiltrotorvectoring
Classification & Testing (check all that apply and add your own)
Description
Checks that a vectored-yaw tiltrotor tilts its rotors the correct way for a roll demand. Tilting a rotor forward reduces its vertical thrust, so a right roll demand must tilt the left rotor back, which is the opposite of the tilt used for a right yaw demand.
The vehicle is armed on the ground in QACRO with air mode on, where SITL holds it level with zero body rates, so a stick demand gives a steady rate controller output. Manual tilt control via the FWD_THR RC option puts the rotors near Q_TILT_MAX so the sin(tilt) roll term dominates the cos(tilt) yaw term.
tiltrotor-vectoring-34086.pdf