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54 lines
1.4 KiB
Plaintext
54 lines
1.4 KiB
Plaintext
Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
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Output 0 - Rear Servo Mixer
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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: 0 3 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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Output 1 - Left Servo Mixer
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Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
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M: 3
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O: 10000 10000 0 -10000 10000
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S: 0 3 -10000 -10000 0 -10000 10000
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S: 0 1 -5000 -5000 0 -10000 10000
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S: 0 0 8660 8660 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) - 0.866 * Aileron (Roll - 0)
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M: 3
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O: 10000 10000 0 -10000 10000
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S: 0 3 -10000 -10000 0 -10000 10000
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S: 0 1 -5000 -5000 0 -10000 10000
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S: 0 0 -8660 -8660 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 4 0 20000 -10000 -10000 10000
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