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[Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter

From: Simon Wilks
Subject: [Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter
Date: Sun, 4 Dec 2011 21:56:32 +0100


I am having some trouble working out how calculate the roll/pitch/yaw coefficients for an octocopter. I have been following the guide but I am not getting it (btw, I think the x,y axis labels in the diagram need to be swapped). 

Given that the octo is configured as indicated in the attached image, what values should I be using for the A matrix? All arms are of identical length.



Attachment: octo.jpg
Description: JPEG image

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