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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 |
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