[Breaking Ground] Input Mixing / Multi Axis Inputs for Single Motor/Rotor

[Shadowmage]

Attempted to create a basic fixed-pitch quadcopter, using the fundamental forces for maneuvering as does a real quad (e.g. increase rotor speed for specific rotors to effect specific maneuvers).

Now, the issue encountered -- how to have multiple input axis effect the state of a single rotor ?

E.G.  'Pitch' control needs to increase front motor torque (1+2), and decrease rear motor torque(3+4)
simultaneously  'Roll' control needs to increase left motor torque (1+3) and decrease right motor torque (2+4)
additionally 'Yaw' control needs to increase alternating motors to effect yaw (increase motors 1+4, decrease motors 2+3)

Individually I can make any one of those controls function properly.  If I specify all three of them -- only the last one in the action group list is functional (the last action groups settings take precedence over previous action groups).

 

The question:  How can I mix inputs from those three axis channels onto a single motor?  All three channels need to be combined in order to determine the output state of the motor.

[FleshJeb]

I'd use KRPC to write up whatever control scheme I want on any axis I want.

One of our folks confirmed yesterday that this will successfully collapse pistons on his craft:

part_name = "piston.02"
module_name = "ModuleRoboticServoPiston"
field_name = "Target Extension"

for part in vessel.parts.all:
    if part.name == part_name:
        for module in part.modules:
            if module.name == module_name:
                module.set_field_float(field_name, 0.0)

You can get at the axes and action groups via the Control class: https://krpc.github.io/krpc/python/api/space-center/control.html

You can name the individual rotors with tags.

Edited May 31, 2019 by FleshJeb