Add the Holybro X500 drone - #115
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Copilot review overview
🟡 Changes recommended
The dynamics documentation is stale and the new fused model is excluded from its dedicated regression test.
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Review effort: Balanced
Findings: 2
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What changed in this PR
Adds Holybro X500 V2 support with MuJoCo geometry, fitted SO-RPY dynamics, and Mellinger controller parameters.
Changes:
- Registers and documents the
hb_x500drone. - Adds detailed and fused MuJoCo models.
- Adds parameters for three SO-RPY dynamics variants and Mellinger control.
| File | Description |
|---|---|
docs/user-guide/control/parametrize.md |
Lists X500 controller support. |
crazyflow/dynamics/so_rpy/params.toml |
Adds base SO-RPY parameters. |
crazyflow/dynamics/so_rpy_rotor/params.toml |
Adds rotor-lag parameters. |
crazyflow/dynamics/so_rpy_rotor_drag/params.toml |
Adds rotor-lag and drag parameters. |
crazyflow/drones/hb_x500.xml |
Defines detailed and fused MuJoCo models. |
crazyflow/drones/__init__.py |
Registers the X500 configuration. |
crazyflow/control/mellinger/params.toml |
Adds X500 controller parameters. |
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Added the drone with so_rpy dynamics (first principles currently unkown).