[Paparazzi-devel] Rotorcraft Mixing Values for an Octocopter

[Simon Wilks]

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.

Thanks,

Simon

octo.jpg
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