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Added configuration file for coaxial helicopter

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This commit is contained in:
Emmanuel Roussel
2015-12-03 13:40:17 +01:00
committed by Lorenz Meier
parent 73e26804da
commit 4b9cad7129
2 changed files with 98 additions and 0 deletions
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33
ROMFS/px4fmu_common/mixers/coax.main.mix Normal file
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Coaxial helicopter mixer
- Two servomotors act on the swashplate (90° angle on the swashplate, decoupled effect on roll and pitch).
- No collective pitch.
- One motor per rotor.
===========================
Left swashplate servomotor, pitch axis
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Right swashplate servomotor, roll axis
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Upper rotor (CCW)
Mixing between yaw and thrust
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Lower rotor (CW)
Mixing between yaw and thrust
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000