Кастомные микшеры для экзотических конфигураций

iNav removed native support for various exotic and not often used frames on STM32F1 targets. This includes CC3D, Naze32 and Flip32. The reason for this is simple: limited flash size and very few people using them while in many cases they can be implemented using custom mixers.

Removed mixer presets can not be selected in Configurator: on save it will be reverted to generic QuadX.

Setups that can be implemented with custom mixer

Following setups can be configured with custom mixer on targets:

Quadcopter + configuration [Motors on front, rear, left and right]

mixer CUSTOM
mmix reset
mmix 0 1.0 0.0 1.0 -1.0   # REAR
mmix 1 1.0 -1.0 0.0 1.0   # RIGHT
mmix 2 1.0 1.0 0.0 1.0    # LEFT
mmix 3 1.0 0.0 -1.0 -1.0  # Front

Hexa H6

mixer CUSTOM
mmix reset
mmix 0 1.0 -1.0 1.0 -1.0     # REAR_R
mmix 1 1.0 -1.0 -1.0 1.0     # FRONT_R
mmix 2 1.0 1.0 1.0 1.0       # REAR_L
mmix 3 1.0 1.0 -1.0 -1.0     # FRONT_L
mmix 4 1.0 0.0 0.0 0.0       # RIGHT
mmix 5 1.0 0.0 0.0 0.0       # LEFT

Quadcopter A-tail

This configuration probably can be improved, similar to V-tail config

mixer CUSTOM
mmix reset
mmix 0 1.0 0.0 1.0 1.0          # REAR_R
mmix 1 1.0 -1.0 -1.0 0.0        # FRONT_R
mmix 2 1.0 0.0 1.0 -1.0         # REAR_L
mmix 3 1.0 1.0 -1.0 -0.0        # FRONT_L

Quadcopter V-tail

mixer CUSTOM
mmix reset
mmix 0 1.0 -0.58 0.58 1.0        # REAR_R
mmix 1 1.0 -0.46 -0.39 -0.5      # FRONT_R
mmix 2 1.0 0.58 0.58 -1.0        # REAR_L
mmix 3 1.0 0.46 -0.39 0.5        # FRONT_L

Hexa Y6

mixer CUSTOM
mmix reset
mmix 0 1.0 0.0 1.333333 1.0     # REAR
mmix 1 1.0 -1.0 -0.666667 -1.0  # RIGHT
mmix 2 1.0 1.0 -0.666667 -1.0   # LEFT
mmix 3 1.0 0.0 1.333333 -1.0    # UNDER_REAR
mmix 4 1.0 -1.0 -0.666667 1.0   # UNDER_RIGHT
mmix 5 1.0 1.0 -0.666667 1.0   # UNDER_LEFT

Quad Y4

mixer CUSTOM
mmix reset
mmix 0 1.0 0.0 1.0 -1.0     # REAR_TOP CW
mmix 1 1.0 -1.0 -1.0 0.0    # FRONT_R CCW
mmix 2 1.0 0.0 1.0 1.0      # REAR_BOTTOM CCW
mmix 3 1.0 1.0 -1.0 0.0     # FRONT_L CW

Hexa P6

mixer CUSTOM
mmix reset
mmix 0 1.0 -0.866025 0.5 1.0        # REAR_R
mmix 1 1.0 -0.866025 -0.5 -1.0      # FRONT_R
mmix 2 1.0 0.866025 0.5 1.0         # REAR_L
mmix 3 1.0 0.866025 -0.5 -1.0       # FRONT_L
mmix 4 1.0 0.0 -1.0 1.0             # FRONT
mmix 5 1.0 0.0 1.0 -1.0             # REAR

Octa Flat P

mixer CUSTOM
mmix reset
mmix 0 1.0 0.707107 -0.707107 1.0       # FRONT_L
mmix 1 1.0 -0.707107 -0.707107 1.0      # FRONT_R
mmix 2 1.0 -0.707107 0.707107 1.0       # REAR_R
mmix 3 1.0 0.707107 0.707107 1.0        # REAR_L
mmix 4 1.0 0.0 -1.0 -1.0                # FRONT
mmix 5 1.0 -1.0 0.0 -1.0                # RIGHT
mmix 6 1.0 0.0 1.0 -1.0                 # REAR
mmix 7 1.0 1.0 0.0 -1.0                 # LEFT

Octa Flat X

mixer CUSTOM
mmix reset
mmix 0 1.0 1.0 -0.414178 1.0        # MIDFRONT_L
mmix 1 1.0 -0.414178 -1.0 1.0       # FRONT_R
mmix 2 1.0 -1.0 0.414178 1.0        # MIDREAR_R
mmix 3 1.0 0.414178 1.0 1.0         # REAR_L
mmix 4 1.0 0.414178 -1.0 -1.0       # FRONT_L
mmix 5 1.0 -1.0 -0.414178 -1.0      # MIDFRONT_R
mmix 6 1.0 -0.414178 1.0 -1.0       # REAR_R
mmix 7 1.0 1.0 0.414178 -1.0        # MIDREAR_L

Bicopter

Warning this is highly experimental, not documented, not tested in real life conditions and I'm pretty sure there are not more than few in the whole world! Mixer configuration below is reverse engineered from CF code.

mixer CUSTOM
mmix reset
mmix 0 1.0 1.0 0.0 0.0 # left motor
mmix 1 1.0 -1.0 0.0 0.0 # right motor

smix reset
smix 0 4 2 100 0 0 100 0 # Servo 4 for left motor pitch change
smix 1 4 1 100 0 0 100 0 # Servo 4 for left motor pitch change
smix 2 5 2 -100 0 0 100 0 # Servo 5 for right motor pitch change
smix 3 5 1 100 0 0 100 0 # Servo 5 for right motor pitch change

Dualcopter

Warning this is highly experimental, not documented, not tested in real life conditions and I'm pretty sure there are not more than few in the whole world! Mixer configuration below is reverse engineered from CF code.

mixer CUSTOM
mmix reset
mmix 0 1.0 0.0 0.0 -1.0  # Left
mmix 1 1.0 0.0 0.0 1.0   # Right

smix reset
smix 0 4 1 100 0 0 100 0
smix 1 5 0  100 0 0 100 0

V-Tail Fixed Wing

Tested in a Mini talon UAV.

mmix reset
mmix 0 1.0 0.0 0.0 0.0

smix reset
smix 0 2 0 -100 0 0 100 0
smix 1 3 0 -100 0 0 100 0

smix 2 4 1 100 0 0 100 0
smix 3 5 1 -100 0 0 100 0

smix 4 4 2 -100 0 0 100 0
smix 5 5 2 -100 0 0 100 0

smix 6 6 8 -100 0 0 100 0
smix 7 7 9 -100 0 0 100 0

Setups that were never implemented in Baseflight, Cleanflight or any of it's derivatives

Disabled setups

Those mixer settings while can be selected in Cleanflight, does nothing or does it wrong. Mostly because they were never really migrated from MultiWii. In some cases they can be configured with custom mixer and probably will work. In other cases, they are and never were operational. iNav in all cases makes them disabled.

HELI 120 CCPM

Never implemented.

HELI 90 DEG

Never implemented.

MIXER_GIMBAL

Use feature SERVO_TILT instead.

Singlecopter

Warning this is highly experimental, not documented and I'm pretty sure there are not more than few in the whole world! Mixer configuration below is reverse engineered from CF code. Mixer is capable of processing this setup, but servo output will not work due to BF/CF PWM output limitations.

mixer CUSTOMAIRPLANE
mmix reset

smix reset
smix 0 3 2 100 0 0 100 0
smix 1 3 1 100 0 0 100 0
smix 2 4 2 100 0 0 100 0
smix 3 4 1 100 0 0 100 0
smix 4 5 2 100 0 0 100 0
smix 5 5 0 100 0 0 100 0
smix 6 6 2 100 0 0 100 0
smix 7 6 0 100 0 0 100 0