Custom mixes for exotic setups - iNavFlight/inav GitHub Wiki
This page documents custom mixer for exotic platforms. As this page was written prior to inav 2.0, you are advised to verify the smix syntax compared to your firmware version. It is also necessary to set the platform_type for your platform.
Quadcopter + configuration [Motors on front, rear, left and right]
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
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
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
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
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
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
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
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
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.
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 # Servo 4 for left motor pitch change
smix 1 4 1 100 0 # Servo 4 for left motor pitch change
smix 2 5 2 -100 0 # Servo 5 for right motor pitch change
smix 3 5 1 100 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.
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
smix 1 5 0 100 0
V-Tail Fixed Wing
Tested in a Mini talon UAV.
# mixer
mmix reset
mmix 0 1.0 0.0 0.0 0.0 # motor
smix reset
smix 0 2 0 -100 0 # servo 2 takes Stabilised ROLL
smix 1 3 0 -100 0 # servo 3 takes Stabilised ROLL
smix 2 4 1 -50 0 # servo 4 takes Stabilised PITCH
smix 3 5 1 50 0 # servo 5 takes Stabilised -PITCH
smix 4 4 2 50 0 # servo 4 takes Stabilised YAW
smix 5 5 2 50 0 # servo 5 takes Stabilised YAW
smix 6 6 8 -100 0 # servo 6 takes RC AUX 1 (camera yaw)
smix 7 7 9 -100 0 # servo 7 takes RC AUX 2 (drop bomb :-))
Skyhunter Nano (no rudder) - 1.7.2 onwards
mmix reset
mmix 0 1.000 0.000 0.000 0.000
smix reset
smix 0 3 0 -100 0
smix 1 4 0 -100 0
smix 2 2 1 -100 0
Nano Talon with 2 Servos for the V-Tail
Note: See this video for details on the V-Tail mod.
# mixer
mmix reset
mmix 0 1.0 0.0 0.0 0.0 # motor
smix reset
smix 0 2 0 -100 0 # servo 2 takes Stabilised ROLL (PWM 3)
smix 1 3 1 -50 0 # servo 3 takes Stabilised PITCH (PWM 4)
smix 2 4 1 50 0 # servo 4 takes Stabilised -PITCH (PWM 5)
smix 3 3 2 50 0 # servo 3 takes Stabilised YAW (PWM 4)
smix 4 4 2 50 0 # servo 4 takes Stabilised YAW (PWM 5)
AVIOS BUSHMULE – Notably separate FLAPS (instead of flapperons). Uses single aileron control with Y cable
# servo mix
smix reset
smix 0 2 1 100 0 # servo 2 takes Stabilised PITCH (PWM 3)
smix 1 3 0 100 0 # servo 3 takes Stabilised ROLL (PWM 4)
smix 2 4 14 100 0 # servo 4 takes FLAPS (PWM 5)
smix 3 5 2 100 0 # servo 5 takes Stabilised YAW (PWM 6)
# servo – also consider manipulating of servo midpoint for correct flaps operation:
servo 4 1000 2000 2000 -100 -1
Twin Motor - Differential thrust and FLAPERONS
# mixer
mmix reset
mmix 0 1.000 0.000 0.000 0.300 #Left motor
mmix 1 1.000 0.000 0.000 -0.300 #Right motor
# servo mix
smix reset
smix 0 3 0 100 0 #servo 3 takes Stabilised ROLL (PWM 4)
smix 1 4 0 100 0 #servo 4 takes Stabilised ROLL (PWM 5)
smix 2 5 2 100 0 #servo 5 takes Stabilised YAW (PWM 6)
smix 3 2 1 100 0 #servo 2 takes Stabilised PITCH (PWM 3)
smix 4 3 14 100 0 #Setup flaps on aileron pins (PWM 4)
smix 5 4 14 100 0 #Setup flaps on aileron pins (PWM 5)
smix reverse 3 14 r #Reverse the Flaps on PWM 4/5, skip this if you want spoilerons
smix reverse 4 14 r #or if it works based on servo orientation
# servo
servo 5 1000 2000 1500 -100 -1 #My rudder was reversed, again you may not need this rule
Setups that were never implemented in Baseflight, Cleanflight or any of its derivatives
Disabled setups
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.
mmix reset
smix reset
smix 0 3 2 100 0
smix 1 3 1 100 0
smix 2 4 2 100 0
smix 3 4 1 100 0
smix 4 5 2 100 0
smix 5 5 0 100 0
smix 6 6 2 100 0
smix 7 6 0 100 0