Motor Mixing - Tilt Rotor VTOL

[jasonleekennedy]

I am working on a Tilt Rotor VTOL and it appears that the mixer doesn't support rules/mixes for the motors, only servos.

I tried disabling motors to see if I could just treat all the channels as if they were servos, but it didn't appear that I could put a servo in a 'motor' channel on my Mateksys F405 Wing. (The design needs 8 outputs, L/R Motor, L/R motor tilt, L/R flaperon, L/R Vtail).

Where would I start looking in the code to add mixing to the motors like what the servos have?

The goal would be to have motors have roll mixed in in bi-copter configuration, yaw (or nothing) in fixed wing configuration, and a blend in the 50% position.

Ideally, the roll and yaw mix amounts could be based on a variable, instead of just fixed amounts.

[jasonleekennedy]

I see 2 likely places, were the data could happen.

I see what looks like the current mix logic here:
https://github.com/iNavFlight/inav/blob/master/src/main/flight/mixer.c#L466

That leads me to think that one fix would be to make an alternate logic there to handles the desired mixing, but I don't like the idea of hard coding values there (it wouldn't open up modifications).

Another option would be to add functionality here:
https://github.com/iNavFlight/inav/blob/master/src/main/programming/logic_condition.c#L90

to support overwriting the values here: https://github.com/iNavFlight/inav/blob/master/src/main/flight/mixer.c#L62

however the logic code seems to be focused on ints, and that is floats.