Geometry Files and documentation on multicopter mixer

[jlecoeur]

Following PX4/PX4-Autopilot#8063, some doc is needed.

• documentation of the .toml format used to describe multirotor geometries
• tutorial for adding a custom multirotor geometry & mixer

@hamishwillee you can assign me on this one.

Note, when this is in:

• we need to address mixer docs for tricopter etc as per Mixing: Syntax and virtual control group info. #994 (comment) . Note, geometry files can be found here https://github.com/PX4/Firmware/tree/master/src/lib/mixer/MultirotorMixer/geometries

[hamishwillee]

Thanks @julianoes !

[julianoes]

I'm confused, I don't think I have time for this until next year.

[jlecoeur]

Probably a confusion between Julian and Julien !

[julianoes]

Seems like it 😄

[hamishwillee]

Sorry guys. Too many Juli(a|e)ns in this house!

[chuong98]

Hi guys, I wonder when the documentation will be released, as I really need to add the new air frame very soon.
Thanks.

[jlecoeur]

Hi @chuong98, sorry for the delay. I am working (slowly) on 6dof support in the mixers, and I was planning to document everything in one go when that is ready.

For your platform, please open an issue with a description of the rotor layout, we need the X Y Z distances between rotor and center of gravity. I will guide you from there.

[chuong98]

Thanks @jlecoeur , I add an issue #435

[jlecoeur]

Related issue #511

[hamishwillee]

Hi @jlecoeur

Great to see you're keeping track of all the related material :-). Any thoughts on when you might get to first draft of the geometry docs.

I am starting to think that we should at least mention the existence of the geometry file earlier rather than later (in adding a new airframe doc).

[hamishwillee]

@jlecoeur Can we have some work on this urgently? It has been about a year and a half now. If you can't do it, can you suggest someone else who can help?

[hamishwillee]

See also #511 and #435

[hamishwillee]

@jlecoeur Can I assume that you're working on this?

[jlecoeur]

I will give it a shot this week-end

[hamishwillee]

@jlecoeur I'm still watching you :-). How did you go?

[hamishwillee]

@jlecoeur @bkueng FYI. Ping.