paparazzi-devel
[Top][All Lists]
Advanced

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

Re: [Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter


From: Eduardo lavratti
Subject: Re: [Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter
Date: Mon, 5 Dec 2011 02:36:51 +0000

Simon,
use this values for your airframe.
I am not sure about yaw signals.
If you have problem change the signals @ yaw line.

have you assembled you aircraft ? all motors start ?
What kind of esc are you using ? i think you using MK esc right ?

  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="8"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e, 0x60 }"/>
  </section>

   <section name="SUPERVISION" prefix="SUPERVISION_">
    <define name="MIN_MOTOR" value="11"/>
    <define name="MAX_MOTOR" value="220"/>
    <define name="TRIM_A" value="0"/>
    <define name="TRIM_E" value="0"/>
    <define name="TRIM_R" value="0"/>
    <define name="NB_MOTOR" value="8"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"  value="{ 256, -256, -256, -256, -256,  256,  256,  256 }"/>
    <define name="PITCH_COEF" value="{  256,  256,  256, -256, -256, -256, -256,  256 }"/>
    <define name="YAW_COEF"   value="{ -256,  256, -256,  256, -256,  256, -256,  256 }"/>
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256,  256,  256,  256,  256 }"/>
  </section>


regards






Date: Sun, 4 Dec 2011 21:56:32 +0100
From: address@hidden
To: address@hidden
Subject: [Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter

Hi

I am having some trouble working out how calculate the roll/pitch/yaw coefficients for an octocopter. I have been following the http://paparazzi.enac.fr/wiki/RotorcraftMixing guide but I am not getting it (btw, I think the x,y axis labels in the diagram need to be swapped). 

Given that the octo is configured as indicated in the attached image, what values should I be using for the A matrix? All arms are of identical length.

Thanks,

Simon



_______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

reply via email to

[Prev in Thread] Current Thread [Next in Thread]