Hello, I’m trying to make my own 6DOF tilting hexacopter with reference to Voliro from ETH [https://ieeexplore.ieee.org/abstract/document/8485627]. I’ve done with the hardware and trying to modify conventional px4 4DOF multi-copter(mc) control to the 6DOF controller.
However, I’m stocked with 2 problems. First, the current px4 mc_rate_control code only outputs one combined thrust(Fz) and 3 attitudes (roll pitch yaw) rather than 3 thrusts (Fx Fy Fz) and 3 attitudes. And also the current mixer code is static but since my hexacopter is tilting hexacopter, I need to make the mixer a function of tilting angle(I’ll precompute the tilting angle and publish to the mixer). That means my mixer matrix should be changed every iteration but I have no clue where to start with the current px4 code.
So I’m just thinking to modify the current mc_rate_control to perform mixing as well and output motor desired PWM directly to the motors. But since I’m not familiar with px4, I’m not even sure it is possible. Would you please give me any suggestions or help with my situation??
Thank you all in advance.