I’ve been experimenting with an idea for a VTOL airframe similar to the standard VTOL ( i.e. Fun Cube quad VTOL). It would fly as a quad + when in MC mode and when in FW mode the MC motors would be “repurposed" to provide pitch and roll control ( this would seem relatively straight forward in a quad + config).
Horizontal Thrust and yaw control would be provided by twin motor configuration, i.e. two extra motors, left and right, that are tilted 90deg to the MC motors (so horizontal) for a total of 6 motors.
I’m keen to do away with having to use extra servos for aileron, elevator, rudder etc...
Would this be possible?
I can get the standard Fun Cube configuration going and have tried to understand how the firmware knows which of the channels defined in the Main and Aux mixer files are used for the MC mode and for the FW mode. I have assumed thus far that the MC uses whatever is defined mixer files as R: and the rest are used for the FW mode, which seems to be the case in the experiments I’ve done.
I was hoping there would be some indexing trickery that could be played on the mixers to give the FW controller to have access to the channels that are used by the MC, however I have not been able to understand the code well enough to make any progress.
I’m aware that this might be a bit unorthodox and could be a wild goose chase as I’m pretty new to this field, but since PX4 seems to be very flexible and configurable I’m hopeful that someone might be able to give me some pointers.
Thank you all for your time.