[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
Hi
I am having some trouble working out how calculate the roll/pitch/yaw coefficients for an octocopter. I have been following the http://paparazzi.enac.fr/wiki/RotorcraftMixing 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.