Quad mixer by custom

#1

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

#2

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.

#3

Thanks!
I am doing this way.

#4

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

#5