path: root/ROMFS/mixers/FMU_RET.mix

Rudder/elevator/throttle mixer for PX4FMU
=========================================

This file defines mixers suitable for controlling a fixed wing aircraft with
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
and the throttle to output 3.

Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).

Rudder mixer
------------
Two scalers total (output, roll).

This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.

M: 2
S: 0 0  10000  10000      0 -10000  10000
S: 0 0  10000  10000      0 -10000  10000

Elevator mixer
------------
Two scalers total (output, roll).

This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.

M: 2
S: 0 0  10000  10000      0 -10000  10000
S: 0 1  10000  10000      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: 2
S: 0 0  10000  10000      0 -10000  10000
S: 0 3      0  20000 -10000 -10000  10000