Creating a Single Copter Custom Mixer and Airframe

PX4 Autopilot
1

Hi, I’m new to the PX4 firmware and I am trying to implement a single copter system (single motor with four servos to control fins) and I’m having trouble understanding how to create a custom mixer and airframe files to replicate this configuration. I have read the Mixing Guide but I am still unsure of what mixer type I would need to use and how I would configure the servos in the mixer. Any feedback would be greatly appreciated.

2

Dear community,
is there any update on this? I saw such a configuration in ArduPilot (SingleCopter and CoaxCopter — Copter documentation). Is it something what is available in PX4 or would it required a custom code modification?
Cheeers!

3

Ok following up, I figured this:

I added these entries in the

src/modules/control_allocator/module.yaml

I’m waiting for my hardware, so I couldn’t test yet. But I also saw the new options in QGC when I ran a SITL. Can any of the PX4 devs confirm that this is the way to add a new control surface?


            19: # Left Lower Elevon
              - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
              - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
            20: # Right Lower Elevon
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
            21: # Left Upper Elevon
              - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
            22: # Right Upper Elevon
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 }
              - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
              - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
              - { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler

EDIT: The setup is for a X-style elevon airframe, hence the mixture out of A,V and elevon setup.