Quad collective pitch

Hi every body.

Happy new year to all of you.

I am writing to France, sorry for my very bad English ...

From some month, i am working on a full collective pitch quad.

From now, i'am using a naze32 acro controller on it, but i would like to go ahead with this project and using a Pixhawk autopilot. I know a little bit it, because i use it on a 'normal' quad, but when i have tested the autopilot on the full collective one nothing is working well.

I have some questions:

where can i plug the servo on the autopilot?

Did you have developed something for a quad and 4 servo instead of esc?

The esc of the engine is plugged directly on the receiver and i use a curve to mix it with the collective pitch.

Below a link to my last vidéo, any ideas will be welcome ...

https://www.youtube.com/watch?v=j7d-3v2o-Qc

Thanks,

Olivier

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