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Hexa 3D.png

This page describe how to compute "mixing" for an arbitrary multirotors configuration.

Let us consider a vehicle comprising a set of N identical power trains R_i, i \in[1:N] located at coordinates (X_i,Y_i), i\in[1:N] and spinning in the same plane in the direction D_i, i\in[1:N], D_i\in[-1;1] at a rotational speed \omega_i, i\in[1:N].

Assuming a quasi hovering regime, the force produced by each rotor can be considered normal to the rotor plane and proportional to the square of its rotational speed. Under the same assumption, the torque produced by each rotor can also be assumed to be in the same direction and proportional to the square of the rotational speed.