motor_mixing

Motor mixing for multi-rotor systems see http://wiki.paparazziuav.org/wiki/Rotorcraft_Configuration#Motor_Mixing

Section MIXING

MOTOR_MIXING_

Name

Value

Description

TRIM_ROLL

0

roll trim

TRIM_PITCH

0

pitch trim

TRIM_YAW

0

yaw trim

NB_MOTOR

4

number of motors

SCALE

256

scaling factor

ROLL_COEF

{ 0, 0, -256, 256 }

array of roll coefficient

PITCH_COEF

{ 256, -256, 0, 0 }

array of pitch coefficient

YAW_COEF

{ -256, -256, 256, 256 }

array of yaw coefficient

THRUST_COEF

{ 256, 256, 256, 256 }

array of thurst coefficient

Depends

  • @commands

Provides

  • mixing

Sections