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:

<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.

• motor_mixing_init()

Files

Header Files

The following headers are automatically included in modules.h

• motor_mixing.h

Source Files

• subsystems/actuators/motor_mixing.c

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>