Quad mixer by custom

dpsoul · December 2, 2016, 8:06am

Hi,
Instead of using

R: 4x 10000 10000 10000 0

Has anyone tried to implement same function by using something like below?

M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

dagar · December 3, 2016, 3:02am

The multicopter mixers are generated with this python script - https://github.com/PX4/Firmware/blob/master/src/modules/systemlib/mixer/multi_tables.py
Which creates src/modules/systemlib/mixer/mixer_multirotor.generated.h in your build folder.

If you wanted to explore custom quad mixers I think extending multi_tables.py would be the way to go.

dpsoul · December 13, 2016, 5:09am

Thanks!
I am doing this way.

robin-ecn · June 17, 2019, 8:19pm

Hi, Dagar. The link you shared does not work. Could you please publish another one? Thanks

dagar · June 18, 2019, 12:48am

github.com

PX4/Firmware/blob/master/src/lib/mixer/geometries/tools/px_generate_mixers.py

#!/usr/bin/env python
#############################################################################
#
#   Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
#
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# modification, are permitted provided that the following conditions
# are met:
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#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

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