forked from Archive/PX4-Autopilot
30 lines
721 B
Plaintext
30 lines
721 B
Plaintext
Coaxial helicopter mixer
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- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
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- No collective pitch.
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- One motor per rotor.
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===========================
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Left swashplate servomotor, pitch axis
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M: 1
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S: 0 1 -10000 -10000 0 -10000 10000
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Right swashplate servomotor, roll axis
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M: 1
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S: 0 0 10000 10000 0 -10000 10000
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Upper rotor (CCW)
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Mixing between yaw and thrust
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-------------
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M: 2
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S: 0 2 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Lower rotor (CW)
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Mixing between yaw and thrust
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-------------
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M: 2
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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