Tau Labs OpenPilot custom mixer table
- Thread starter Crash
- Start date
Gary Mortimer
Member
Ho ho thats brave and will be a first!!! Above my pay grade so I think its best to ask over at the IRC http://forums.openpilot.org/
Oh and once you have it working, please write the wiki entry ;-)
Oh and once you have it working, please write the wiki entry ;-)
Range is -127/+127 - the table editor will constrain you within that range unless I made a mistake
Range is -127/+127 - the table editor will constrain you within that range unless I made a mistake
Very interesting, because OpenPilot is a community project we have a Milestones file in the root of the code repository, its a bit of fun and also history of the project and who did what first.
The rules are simple it needs to be unique in the project (like a bi-copter) and there must be video.
The file is here:
http://git.openpilot.org/browse/~ra...2a0105c3fc6c83de5480/OpenPilot/MILESTONES.txt
Hope that link works. There are many other Milestones we have not thought of yet
Once we know what the mixer table values should be, we can add a preset for a Bi Copter.
The rules are simple it needs to be unique in the project (like a bi-copter) and there must be video.
The file is here:
http://git.openpilot.org/browse/~ra...2a0105c3fc6c83de5480/OpenPilot/MILESTONES.txt
Hope that link works. There are many other Milestones we have not thought of yet
Once we know what the mixer table values should be, we can add a preset for a Bi Copter.
peabody124
Member
Your best bet would be to post in the OP forums with a picture of your frame and a description of all the actuators and how it is controlled. I think I know but it would be good to know. Basically that gives us athe forward model (how motor maps to roll, pitch, yaw, thrust) and we can then invert that matrix to get your mixer.
Gary Mortimer
Member
You must be moving something though or how will you manage pitch or perhaps roll depending on how the blades are? Or am I being thick.
No you aren't being thick. I'm into magic?
peabody124
Member
Swash plates?
I'm going for a bi-copter that just happens to have a wing shaped body.
IOW, A twin tractor prop VTOL flying wing. I'm not sure what the control surfaces or wing will ultimately look like. For now I'm going with two motors on a couple sticks and elevons. I'll design the wing around it after I get it hovering.