3.4 KiB
Mixer
Cleanflight supports a number of mixing configurations as well as custom mixing. Mixer configurations determine how the servos and motors work together to control the aircraft.
Configuration
To use a built-in mixing configuration, you can use the Chrome configuration GUI. It includes images of the various mixer types to assist in making the proper connections. See the Configuration section of the documentation for more information on the GUI.
You can also use the Command Line Interface (CLI) to set the mixer type:
- Use
mixer list
to see a list of supported mixes - Select a mixer. For example, to select TRI, use
mixer TRI
- You must use
save
to preserve your changes
Supported Mixer Types
Name | Description | Motors | Servos |
---|---|---|---|
TRI | Tricopter | M1-M3 | S1 |
QUADP | Quadcopter-Plus | M1-M4 | None |
QUADX | Quadcopter-X | M1-M4 | None |
BI | Bicopter (left/right) | M1-M2 | S1, S2 |
GIMBAL | Gimbal control | N/A | S1, S2 |
Y6 | Y6-copter | M1-M6 | None |
HEX6 | Hexacopter-Plus | M1-M6 | None |
FLYING_WING | Fixed wing; elevons | M1 | S1, S2 |
Y4 | Y4-copter | M1-M4 | None |
HEX6X | Hexacopter-X | M1-M6 | None |
OCTOX8 | Octocopter-X (over/under) | M1-M8 | None |
OCTOFLATP | Octocopter-FlatPlus | M1-M8 | None |
OCTOFLATX | Octocopter-FlatX | M1-M8 | None |
AIRPLANE | Fixed wing; Ax2, R, E | M1 | S1, S2, S3, S4 |
HELI_120_CCPM | |||
HELI_90_DEG | |||
VTAIL4 | Quadcopter with V-Tail | M1-M4 | N/A |
HEX6H | Hexacopter-H | M1-M6 | None |
PPM_TO_SERVO | |||
DUALCOPTER | Dualcopter | M1-M2 | S1, S2 |
SINGLECOPTER | Conventional helicopter | M1 | S1 |
ATAIL4 | Quadcopter with A-Tail | M1-M4 | N/A |
CUSTOM | User-defined |
Servo filtering
A low-pass filter can be enabled for the servos. It may be useful for avoiding structural modes in the airframe, for example. Currently it can only be configured via the CLI:
- Use
set servo_lowpass_freq_idx = nn
to select the cutoff frequency. Valid values range from 0 to 99. - Use
set servo_lowpass_enable = 1
to enable filtering.
The actual cutoff frequency is determined by the value of the looptime
variable and the selected index.
The formula is:
Frequency = 1000000 * (servo_lowpass_freq_idx + 1)*0.0025 / looptime )
For example, if servo_lowpass_freq_idx
is set to 40, and looptime is set to the default of 3500 us (0.0035 s), the cutoff frequency will be 29.3 Hz.