Vehicles vary in actuation properties such as geometry, motors/propellers, ESC protocol and availability of aerodynamic surfaces. "Mixing" is the process of linking the generic controller to the specific actuation. PX4 is in the process of replacing the static, file-based mixing system with a parameter-based implementation accompanied with a configuration UI. The talk highlights the benefits of that for end-users, including ease-of-use, support for new types of vehicles, actuator testing, reversible motors and actuator failure to name a few. For developers, the architecture is presented, with updated uORB topics, modules, driver interface and the dynamic QGC user interface.
As presented during the PX4 Developer Summit 2022 in Austin, Texas.
