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VTOL servo mixer used as motor mixer #7386
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vtol-kopter
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hello, |
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I have a similar question. It would be nice to change the channel mix according to a variable aux input (rotor tilt in your case). As the rotors change angle, yaw and roll switch according to sin, cos of the tilt angle. |
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servo mixer are very flexible in latest INAV version. I like it.
motor mixer are not flexible enough to use it in a VTOL configuration, right?
I am building a VTOL delta plane with two rear motors and one front motor. The front motor is fixed and should work only on hover/copter mode. The two rear motors can be tilt by about 110deg. In "plane" position they work in the usual way just horizontally. In "Copter" position they work vertically with a small tilt to achieve yaw.
It was easy to set up servo mixers for two independent servos to tilt the motors in the appropriate way.
Now I looking for way to control motors itself in plane mode:
In plane mode I do not need any support from the FC, just pass thrust to motors. Flaps are controlled directly by the RC receiver.
In copter mode its just a tri-copter. I've already tested this mode, it works perfectly with the two rear motors achieving yaw.
My question is:
Can I configure a servo mixer/output so that it works just like the motor mixers?
Do you have any suggestion for a completely different solution.
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