Paparazzi UAS  v5.15_devel-61-g9c6bcf9
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motor_mixing module

Motor mixing for multi-rotor systems

see http://wiki.paparazziuav.org/wiki/Rotorcraft_Configuration#Motor_Mixing

Example for airframe file

Add to your firmware section:

1 <module name="motor_mixing"/>

Module configuration options

Airframe file section

  • section name: MIXING prefix: MOTOR_MIXING_
    • name TRIM_ROLL value: 0
      Description: roll trim
    • name TRIM_PITCH value: 0
      Description: pitch trim
    • name TRIM_YAW value: 0
      Description: yaw trim
    • name NB_MOTOR value: 4
      Description: number of motors
    • name SCALE value: 256
      Description: scaling factor
    • name ROLL_COEF value: { 0, 0, -256, 256 }
      Description: array of roll coefficient
    • name PITCH_COEF value: { 256, -256, 0, 0 }
      Description: array of pitch coefficient
    • name YAW_COEF value: { -256, -256, 256, 256 }
      Description: array of yaw coefficient
    • name THRUST_COEF value: { 256, 256, 256, 256 }
      Description: array of thurst coefficient

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw motor_mixing.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="motor_mixing" dir="actuators" task="actuators">
<doc>
<description>
Motor mixing for multi-rotor systems
see http://wiki.paparazziuav.org/wiki/Rotorcraft_Configuration#Motor_Mixing
</description>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0" description="roll trim"/>
<define name="TRIM_PITCH" value="0" description="pitch trim"/>
<define name="TRIM_YAW" value="0" description="yaw trim"/>
<define name="NB_MOTOR" value="4" description="number of motors"/>
<define name="SCALE" value="256" description="scaling factor"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }" description="array of roll coefficient"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }" description="array of pitch coefficient"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }" description="array of yaw coefficient"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }" description="array of thurst coefficient"/>
</section>
</doc>
<header>
<file name="motor_mixing.h" dir="subsystems/actuators"/>
</header>
<init fun="motor_mixing_init()"/>
<makefile target="!sim">
<define name="USE_MOTOR_MIXING"/>
<file name="motor_mixing.c" dir="subsystems/actuators"/>
</makefile>
</module>