MultiMotor Setups using the XAircraft FC1212-S Controller
FC1212-S can be configured to support 4~8 rotors, you can use these rules for motor mixing to make your own multicopter.
Important: DIYer also have to tune the PID parameters(attitude tab in XAircraft Configuration Software) by self.
1 Mixer Rules
2 Example 1: Octa Motor Mixer
3 Example 2: Y6 Motor Mixer
4 Example 3: X8 Motor Mixer
5 Example 4: Hexa +style
Mixer Rules
First, draw a cross to locate the motors to the areas.
There're only 4 rules to make a mixer settings.
1. All the throttle mixer values should be 100%.
2. The pitch mixer value of +Pitch area motor is +100%, the pitcg of –Pitch area motor is -100%.
3. The roll mixer value of +Roll area motor is +100%, the roll of –Roll area motor is -100%.
4. All clockwise props are in -Yaw ‘area’, all counter clockwise props are in +Yaw ‘area’.
After read the samples, you can try to deduce the mixer for X650 X style or + style for a practice, and check your result according to the X650 settings.
Example 1: Octa Motor Mixer
1. All throttles(M1~M8) should be 100%.
2. The pitch of +Pitch area motor is +100%, the pitch of –Pitch area motor is -100%. +Pitch motors are M1, M2 and M8, so the pitch of M1, M2, M8 is 100%. –Pitch motors are M4, M5 and M6, the pitch of them is -100%. But M3 and M7 are not in both +Pitch and –Pitch area, so the pitch of them is 0.
3. The roll of +Roll area motor is +100%, the roll of –Roll area motor is -100%. +Roll motors are M2, M3 and M4, so the roll of them is 100%. –Roll motors are M6, M7 and M8, the roll of them is -100%. M1 and M5 are not in both +Roll and –Roll area, the roll of them is 0.
4. All clockwise props are in -Yaw ‘area’, all counter clockwise props are in +Yaw ‘area’. So M1, M3 and M5 are in +Yaw, their mixer value for yaw is +100%.
The Mixer Result is:
Motor Throttle Pitch Roll Yaw
M1 100 100 0 100
M2 100 100 100 -100
M3 100 0 100 100
M4 100 -100 100 -100
M5 100 -100 0 100
M6 100 -100 -100 -100
M7 100 0 -100 100
M8 100 100 -100 -100
Example 2: Y6 Motor Mixer
1. All throttles(M1~M6) should be 100% throttle output.
2. The pitch of +Pitch area motor is +100%, the pitch of –Pitch area motor is -100%. In the picture, M1, M2, M3 and M4 are all in +Pitch area, M5 and M6 are in –pitch area.
3. The roll of +Roll area motor is +100%, the roll of –Roll area motor is -100%. In the picture, M1 and M2 are in +Roll area, M3 and M4 are in –Roll area, but M5 and M6 are not in both +Roll and –Roll. So for M5 and M6, the roll mixer value is 0.
4. All clockwise props are in -Yaw ‘area’, all counter clockwise props are in +Yaw ‘area’. So M1, M3 and M5 are in +Yaw, their mixer value for yaw is +100%.
The Mixer Result is:
Motor Throttle Pitch Roll Yaw
M1 100 100 100 100
M2 100 100 100 -100
M3 100 100 -100 100
M4 100 100 -100 -100
M5 100 -100 0 100
M6 100 -100 0 -100
M7 0 0 0 0
M8 0 0 0 0
Example 3: X8 Motor Mixer
1. All throttles(M1~M8) should be 100% throttle output.
2. The pitch of +Pitch area motor is +100%, the pitch of –Pitch area motor is -100%. In the picture, M1, M2, M5 and M6 are all in +Pitch area, M3, M4, M7 and M8 are in –pitch area.
3. The roll of +Roll area motor is +100%, the roll of –Roll area motor is -100%. In the picture, M2, M3, M6 and M7 are in +Roll area, M1, M4, M5 and M8 are in –Roll area.
4. All clockwise props are in -Yaw ‘area’, all counter clockwise props are in +Yaw ‘area’. So M1, M3, M6 and M8 are in +Yaw, their mixer value for yaw is +100%, othe motors should be -100%.
The Mixer Result is:
Motor Throttle Pitch Roll Yaw
M1 100 100 -100 100
M2 100 100 100 -100
M3 100 -100 100 100
M4 100 -100 -100 -100
M5 100 100 -100 -100
M6 100 100 100 100
M7 100 -100 100 -100
M8 100 -100 -100 100
Example 4: Hexa +style