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7f04e3c759
* Helicopter aiframe and basic PID control * codestyle * Blade 130x gains working but not optimal * Changed behaviour of feedforward for all multicopter
55 lines
1.5 KiB
Plaintext
55 lines
1.5 KiB
Plaintext
Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
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Blade 130x helicopter has longer servo arms left and right. The front servo arm is shorter.
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Therefore it is not required to use the 0.866 factor.
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Output 0 - Left Servo Mixer
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-----------------
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Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + Aileron (Roll - 0)
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M: 3
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Output 1 - Front Servo Mixer
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----------------
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Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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Output 2 - Right Servo Mixer
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----------------
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Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - Aileron (Roll - 0)
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M: 3
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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Output 3 - Tail Servo Mixer
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----------------
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Tail Servo = Yaw (control index = 2)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Output 4 - Motor speed mixer
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-----------------
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This would be the motor speed control output from governor power demand- not sure what index to use here?
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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