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Possible to simulate motor failure with Pixhawk in Gazebo??

Hello community,

I wanted to simulate a motor failure for a quad with Pixhawk in gazebo. Is it possible to do so? I wanted to try my own high-level controller with the low-level controller of Pixhawk. It might be possible to do so by actuator control but I don't want to do that. I wanted to check whether my high-level position controller can stabilize the motor failure or not. Any help or guidance towards the relevant direction is appreciated. If someone could just tell me if it is possible to write a gazebo plugin which will stop the motor on my command, this will also do. Thanks.

PS: I am not an expert in Gazebo but have used it enough for a few months. So, be gentle on the technical language! Thanks.