Hello all. I am developing a “flying ceiling fan” of sorts, one similar to this:
The model I have in mind is similar, however it has some key distinctions:
- the wings are at a fixed AOA
- the motors spin at a constant RPM (meaning the entire vehicle spins at a constant RPM)
- the “cyclic” and “collective” of the vehicle are controlled by flaps on each blade
As a starting point, I wanted build a monocopter that I could use for testing the mixer. This makes the most sense to me since the full vehicle is essentially four monocopters taped together, so starting the a single blade would simplify the testing procedures. My test vehicle would look similar to these:
As I said, this would behave almost exactly like the ceiling fan, except now its only one flap responsible for controlling the aircraft instead of four. I have a control scheme mostly figured out, and I will post it once I am more certain of how it works. The issue I am running into is that I kind of have no idea what I am doing with PX4, and I don’t know how to make a mixer for this type of vehicle. Can anyone help me or point me in a direction? I know I am not the first to do this so surely there is someone more knowledgeable on this.