HI all,
So I am following this tutorial https://dev.px4.io/en/airframes/adding_a_new_frame.html to add a new frame. The tutorial https://dev.px4.io/en/concept/mixing.html mentions about the option R: such as
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
For example, from tri_y_yaw+.main.mix file, there is
# Motors
R: 3y 10000 10000 10000 0
My questions are:
- How to create a new option similar to the option 3y. What the steps should be done?
- Take the option R: 4x as an example, what are the differences in term of functionality between the following mixer files
R: 4x 10000 10000 10000 0
and
//Motor 1
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 2 +10000 +10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
//Motor 2
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 +10000 +10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
//Motor 3
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 +10000 +10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
//Motor 4
M: 4
O: 10000 10000 0 -10000 10000
S: 0 0 +10000 +10000 0 -10000 10000
S: 0 1 +10000 +10000 0 -10000 10000
S: 0 2 +10000 +10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
Thanks in advance.