I try to fully understand the mixer modules from the PX4. Has the library mention PX4 is using the geometries files (.toml) to find the pseudo-inverse of the matrix from equation T = Gu.
From my previous research I found out that the thrust is define has the sum of the forces applied on the drone (Fx and Fy omitted). This force can be define by the the equation Fri = Kfwi². Which then Kf is define has Ctair_densityradius_props²*A_props. At this line from the script which define one part of the control allocation matrix, we only use the Ct parameter (https://github.com/PX4/Firmware/blob/master/src/lib/mixer/MultirotorMixer/geometries/tools/px_generate_mixers.py#L162). I was wondering if the property from the drone was omitted? If so, why and how does it works? I mean the command send to the actuator should not be the same for a props of 18in vs 13in?