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54 lines
1.5 KiB
54 lines
1.5 KiB
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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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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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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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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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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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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