mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
c9d179676e
Reduces FLASH usage by about 4KB Command to replace: for i in *.mix; do sed -r -i '/O: +10000 +10000 +0 +-10000 +10000/d' $i; done
30 lines
721 B
Plaintext
30 lines
721 B
Plaintext
Coaxial helicopter mixer
|
|
- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
|
|
- No collective pitch.
|
|
- One motor per rotor.
|
|
===========================
|
|
|
|
Left swashplate servomotor, pitch axis
|
|
-------------
|
|
M: 1
|
|
S: 0 1 -10000 -10000 0 -10000 10000
|
|
|
|
Right swashplate servomotor, roll axis
|
|
-------------
|
|
M: 1
|
|
S: 0 0 10000 10000 0 -10000 10000
|
|
|
|
Upper rotor (CCW)
|
|
Mixing between yaw and thrust
|
|
-------------
|
|
M: 2
|
|
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
|
|
S: 0 2 -10000 -10000 0 -10000 10000
|
|
S: 0 3 0 20000 -10000 -10000 10000
|