Hello to all,
I am new to pixhawk.
I am trying to build a transition drone with 4 lifting motors and pushing motors.
There are examples for drones with 1 pusher like babyshark.
I have few doubts in this regard.
1- I have created the geomtry file with .toml extension with 4 rotors having thrust axis [0.0,0.0, -1.0] and
2 rotors having thrust axis [1.0,0.0,0.0].
2- I have written/modified the mixer file for each motor separately with following format:
For 4 quad motors
Motor 1 to 4
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
For pusher motors
Motor 1
M: 1
S: 1 3 0 20000 0 -10000 10000
3- Then I created the airframe file similar to the hexacopter :
#!/bin/sh
@name vtol two pusher
@type vtol quad
@class multirotor
@output MAIN1 motor 1
@output MAIN2 motor 2
@output MAIN3 motor 3
@output MAIN4 motor 4
@output MAIN5 pusher 1
@output MAIN6 pusher 2
@output AUX1 feed-through of RC AUX1 channel
@output AUX2 feed-through of RC AUX2 channel
@output AUX3 feed-through of RC AUX3 channel
sh /etc/init.d/rc.mc_defaults
set MIXER vtolmixer [name of my muixer file]
Need to set all 8 channels
set PWM_OUT 12345678
After doing this I am not able to get my pushers working.
Also they are not responding the same way as expected with giving some throttle.
Any help with regard to including multiple pushers would be great help.
Thank you