Hi everyone, I’m building a fully actuated omnidirectional octocopter with a cube frame design. I have eight motors—one at each corner of the cube—all tilted outward at thirty degrees. I’ve calculated my custom motor mixing commands based on this geometry add_motor_raw(AP_MOTORS_MOT_1, 0.455, 0.975, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -0.43, 0.445, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, -0.979, -0.422, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.96, -0.995, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 0.985, 0.408, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, -0.954, 1, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor_raw(AP_MOTORS_MOT_7, -0.455, -0.97, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_8, 0.416, -0.44, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8); , and I’ve set FRAME_CLASS to fifteen for scripting matrix mode. Now I need help creating a Lua script that will load these mixer values so the drone can properly control roll, pitch, yaw, and thrust independently. I can share pictures of my frame, my mixer calculations, and my setup details. Can anyone help me write or point me toward a Lua script template for custom motor mixing with tilted rotors?”
I don’t think I can help but I’d sure like to see photos of this thing.
Do you have a particular application in mind for this aircraft?
The description of your aircraft reminded me a bit of the Lynchpin vehicles which were built a few years ago. Do your design goals have much in common with the goals of the Lynchpin aircraft (movement in in direction independent of the vehicle orientation)?
Of course you don’t need a practical application in mind to build something interesting. I’m just curious if you have an application in mind.
Hopefully someone here can provide you with some helpful information. Good luck.
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