aboutsummaryrefslogtreecommitdiff
path: root/ROMFS/px4fmu_common/mixers/wingwing.mix
diff options
context:
space:
mode:
Diffstat (limited to 'ROMFS/px4fmu_common/mixers/wingwing.mix')
-rw-r--r--ROMFS/px4fmu_common/mixers/wingwing.mix51
1 files changed, 51 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/wingwing.mix b/ROMFS/px4fmu_common/mixers/wingwing.mix
new file mode 100644
index 000000000..08333ba5c
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/wingwing.mix
@@ -0,0 +1,51 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for Wing Wing Z-84
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -6000 -6000 0 -10000 10000
+S: 0 1 6500 6500 0 -10000 10000
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -6000 -6000 0 -10000 10000
+S: 0 1 -6500 -6500 0 -10000 10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range. Inputs below zero are treated as zero.
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000