CCPM.main.mix
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Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
==================================================
Output 0 - Rear Servo Mixer
----------------
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
M: 2
S: 0 3 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Output 1 - Left Servo Mixer
-----------------
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
M: 3
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 8660 8660 0 -10000 10000
Output 2 - Right Servo Mixer
----------------
Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
M: 3
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 -8660 -8660 0 -10000 10000
Output 3 - Tail Servo Mixer
----------------
Tail Servo = Yaw (control index = 2)
M: 1
S: 0 2 10000 10000 0 -10000 10000
Output 4 - Motor speed mixer
-----------------
This would be the motor speed control output from governor power demand- not sure what index to use here?
M: 1
S: 0 4 0 20000 -10000 -10000 10000