Mixing Table and different frames

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Mixing Table and different frames

Postby Debian » Fri May 06, 2016 10:28 pm

Hi guys,
I have one question about the mixing table.
In QTGroundControl you can change the % for every motor to get the best balance. For the most used and spreaded frames or copter-layout there are many default standard profiles.
But what about if I need to create a table for a copter which has a design that is not already in Autoquad?
There is a tool (an excell table for istance) or a calculation to get approximately the right % value for the motor about the three axis?!?

Thanks in advance.
Debian
 
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Re: Mixing Table and different frames

Postby Max » Fri May 06, 2016 11:09 pm

Hi Debian,

Yes, you could use quatosTool to generate PID mixes as well as Quatos mixes (use the '-p' option, '-h' for full options list). For PID controller mixes you only need to specify the relative motor positions & rotations as described in the 2nd section, the masses described later are not used.

HTH,
-Max
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Re: Mixing Table and different frames

Postby Debian » Sun May 08, 2016 9:32 pm

Thanks very much for your help.
I tried to run the example file in the wiki. Running with the tool online I get the solution for that copter.
I can see the PID parameters but not the table.
Maybe ist the mixing table this one?
Code: Select all
Mt = [
     +1.0250001    +5.7959572    +5.7959572    -0.2500000 
     +1.0250001    -5.7959572    +5.7959572    +0.2500000 
     +0.9749999    -5.7959572    -5.7959572    -0.2500000 
     +0.9749999    +5.7959572    -5.7959572    +0.2500000 
];


Or am I wrong?
Debian
 
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Re: Mixing Table and different frames

Postby Max » Mon May 09, 2016 4:57 am

The online tool only generates Quatos mixes, not for PID controller.

You can also run quatosTool via QGC in the Mixing tab -- click the icon at the top that looks like "<>" and select your XML file. If the Quatos checkbox in the mixing tab is checked, you get a Quatos mix, and a PID mix if it's not checked.

-Max
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