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.
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Left swashplate servomotor, pitch axis
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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