Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
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Output 0 - Rear Servo Mixer
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Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)

M: 2
O:      10000  10000      0 -10000  10000
S: 0 3  10000  10000      0 -10000  10000
S: 0 1  10000  10000      0 -10000  10000


Output 1 - Left Servo Mixer
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Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)

M: 3
O:       10000   10000      0 -10000  10000
S: 0 3  -10000  -10000      0 -10000  10000
S: 0 1   -5000   -5000      0 -10000  10000
S: 0 0    8660    8660      0 -10000  10000


Output 2 - Right Servo Mixer
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Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)


M: 3
O:       10000   10000      0 -10000  10000
S: 0 3  -10000  -10000      0 -10000  10000
S: 0 1   -5000   -5000      0 -10000  10000
S: 0 0   -8660   -8660      0 -10000  10000

Output 3 - Tail Servo Mixer
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Tail Servo = Yaw (control index = 2)

M: 1
O:      10000  10000      0 -10000  10000
S: 0 2  10000  10000      0 -10000  10000


Output 4 - Motor speed mixer
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This would be the motor speed control output from governor power demand- not sure what index to use here?

M: 1
O:      10000  10000      0 -10000  10000
S: 0 4      0  20000 -10000 -10000  10000