diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/13003_quad_vtol | 15 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 8 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/quad_x_vtol.mix | 18 |
3 files changed, 41 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/13003_quad_vtol b/ROMFS/px4fmu_common/init.d/13003_quad_vtol new file mode 100644 index 000000000..9c0526f45 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/13003_quad_vtol @@ -0,0 +1,15 @@ +# +# Generic configuration file for a tailsitter with motors in X configuration. +# +# Roman Bapst <bapstr@ethz.ch> +# + +sh /etc/init.d/rc.vtol_defaults + +set MIXER quad_x_vtol + +set PWM_OUT 1234 +set PWM_MAX 2000 +set PWM_RATE 400 +param set VT_MOT_COUNT 4 +param set VT_IDLE_PWM_MC 1080
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index de81795b4..7b41df178 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -269,6 +269,14 @@ then fi # +# Tailsitter with motors in X configuration and elevons +# +if param compare SYS_AUTOSTART 13003 +then + sh /etc/init.d/13003_quad_vtol +fi + +# # TriCopter Y Yaw+ # if param compare SYS_AUTOSTART 14001 diff --git a/ROMFS/px4fmu_common/mixers/quad_x_vtol.mix b/ROMFS/px4fmu_common/mixers/quad_x_vtol.mix new file mode 100644 index 000000000..4fd323353 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/quad_x_vtol.mix @@ -0,0 +1,18 @@ +Mixer for Tailsitter with x motor configuration and elevons +=========================================================== + +This file defines a single mixer for tailsitter with motors in X configuration. All controls +are mixed 100%. + +R: 4x 10000 10000 10000 0 + +#mixer for the elevons +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 1 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 1 -10000 -10000 0 -10000 10000 |