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Re: [Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter

From: Simon Wilks
Subject: Re: [Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter
Date: Mon, 5 Dec 2011 10:29:10 +0100

Hi Eduardo,

Thanks! I will give that a try.

I have almost finished assembling everything. I have wired up two motors and just need to solder the other six. I am using MKK controllers and a Lisa/L board.

I am expecting I am going to have a problem getting all motors started as I have a Lisa/L like you but I hope to be able to be at the point of testing the motors tonight or tomorrow night.



On Mon, Dec 5, 2011 at 3:36 AM, Eduardo lavratti <address@hidden> wrote:
use this values for your airframe.
I am not sure about yaw signals.
If you have problem change the signals @ yaw line.

have you assembled you aircraft ? all motors start ?
What kind of esc are you using ? i think you using MK esc right ?

  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="8"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e, 0x60 }"/>

   <section name="SUPERVISION" prefix="SUPERVISION_">
    <define name="MIN_MOTOR" value="11"/>
    <define name="MAX_MOTOR" value="220"/>
    <define name="TRIM_A" value="0"/>
    <define name="TRIM_E" value="0"/>
    <define name="TRIM_R" value="0"/>
    <define name="NB_MOTOR" value="8"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"  value="{ 256, -256, -256, -256, -256,  256,  256,  256 }"/>
    <define name="PITCH_COEF" value="{  256,  256,  256, -256, -256, -256, -256,  256 }"/>
    <define name="YAW_COEF"   value="{ -256,  256, -256,  256, -256,  256, -256,  256 }"/>
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256,  256,  256,  256,  256 }"/>


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


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.



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