Mixer
The mixer translates flight controller outputs (roll, pitch, yaw, throttle) into servo signals for your ornithopter.
Ornithopter Mixer
OrniFlight extends Betaflight’s mixer system with ornithopter-specific configurations. The mixer handles:
- Wing servos: Convert PID output to wing stroke modulation
- Tail servos (optional): Control elevator/rudder surfaces
Mixer Types
| Mixer | Use Case |
|---|---|
| ORNITHOPTER | Standard dual-wing ornithopter with 2 wing servos |
| ORNITHOPTER_4S | 4-servo ornithopter (independent left/right wing control) |
| ORNITHOPTER_TAIL | Dual-wing + tail elevator + rudder |
Servo Configuration
Configured in the Servos tab or via CLI:
smix reverse 0 2 r # Reverse servo 2
smix 0 0 0 100 0 0 100 # Servo 0: roll mixing
smix 1 1 1 100 0 0 100 # Servo 1: pitch mixing
ONDAS Integration
The mixer works in concert with ONDAS (Ornithopter Nonlinear Dynamic Aerodynamic System):
- Throttle → sets base flapping amplitude
- ONDA Cadence → shifts the modulation window within each stroke
- ONDA Ferocity → modifies stroke waveform shape (sinusoidal ↔ trapezoidal)
- ONDA Balance → left/right wing symmetry correction
For detailed ONDAS theory, see the ONDAS Wiki.
CLI Settings
mixer = ORNITHOPTER
set servo_pwm_rate = 330 # Servo update frequency
set servo_center_pulse = 1500
set flap_spread = 20 # Wing angle amplitude in degrees