Hello all, i started some time ago a quadcopter software platform from scratch.
I dont want to re-invent the wheel, i took this as a personal challenge.
I`ved atach a image of the spining direction and thrust for a quadcopter from resources i found on the web regarding the quadcopter movement.
In the image below, the red arrows shows increased thrust on the motors ( M1, M2, M3,M4)
My main question is after seeing and understanding a bit about quadcopter motion related to motors thrust i computed these "equations" bellow, and i want to know if i did them corect
throttle m1 = throttle_primary + pitch_offset - roll_offset - yaw_offset
throttle m2 = throttle_primary + pitch_offset + roll_offset + yaw_offset
throttle m3 = throttle_primary - pitch_offset + roll_offset - yaw_offset
throttle m4 = throttle_primary - pitch_offset - roll_offset + yaw_offset
the primary throtle is coming from the remote throttle channel, and each RPY offset is coming out of the PID on each angle axis.
What do you think?
Replies
First off the top right should be Pitch Down.
I'm with you on this. I've been looking at a lot of code and math equations. Most of the code out there is very advanced and I'm just looking for the basic takeoff and fly level. I've seen the Euler Angles and the Quaternion formulas.
Just want to get off the ground.