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author | px4dev <px4@purgatory.org> | 2012-08-05 16:54:50 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-05 16:54:50 -0700 |
commit | 5c30722e77feaa238ae4b685cc4fca98102282de (patch) | |
tree | eb034e05441c83c380ec2c2eb0bdeb7d690916b9 | |
parent | 6976fe4b1988a134fd8ec62762ac683cfe7a9d33 (diff) | |
download | px4-firmware-5c30722e77feaa238ae4b685cc4fca98102282de.tar.gz px4-firmware-5c30722e77feaa238ae4b685cc4fca98102282de.tar.bz2 px4-firmware-5c30722e77feaa238ae4b685cc4fca98102282de.zip |
More example mixers; three different fixed-wing configurations for FMU.
-rw-r--r-- | ROMFS/Makefile | 5 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_AERT.mix | 64 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_AET.mix | 60 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_RET.mix | 53 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_delta.mix | 22 |
5 files changed, 191 insertions, 13 deletions
diff --git a/ROMFS/Makefile b/ROMFS/Makefile index 3f7d4484f..de49c36fc 100644 --- a/ROMFS/Makefile +++ b/ROMFS/Makefile @@ -21,7 +21,10 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \ $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \ $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ - $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix + $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \ + $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \ + $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ + $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix # # Add the PX4IO firmware to the spec if someone has dropped it into the diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix new file mode 100644 index 000000000..18be38bbd --- /dev/null +++ b/ROMFS/mixers/FMU_AERT.mix @@ -0,0 +1,64 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suirable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 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). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are 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. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +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 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +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 2 10000 10000 0 -10000 10000 + +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 diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix new file mode 100644 index 000000000..bd038edc5 --- /dev/null +++ b/ROMFS/mixers/FMU_AET.mix @@ -0,0 +1,60 @@ +Aileron/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suirable for controlling a fixed wing aircraft with +aileron, elevator and throttle controls using PX4FMU. The configuration assumes +the aileron servo(s) are 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). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are 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. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +Alternatively, output 2 could be used as a second aileron servo output with +separate mixing. + +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. + +M: 0 + +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 diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix new file mode 100644 index 000000000..e8762787b --- /dev/null +++ b/ROMFS/mixers/FMU_RET.mix @@ -0,0 +1,53 @@ +Rudder/elevator/throttle mixer for PX4FMU +========================================= + +This file defines mixers suirable 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. + +M: 0 + +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 diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_delta.mix index 75493c578..8f2d12be3 100644 --- a/ROMFS/mixers/FMU_delta.mix +++ b/ROMFS/mixers/FMU_delta.mix @@ -1,12 +1,10 @@ Delta-wing mixer for PX4FMU =========================== -Lines in this file that begin with a capital letter and a colon are interpreted -as mixer commands. All other lines are ignored. - -This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo -outputs 0 and 1 and the motor speed control to output 2. Output 3 is assumed to -be unused. +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). @@ -33,6 +31,11 @@ S: 0 0 10000 10000 0 -10000 10000 S: 0 0 5000 3000 0 -10000 10000 S: 0 1 -5000 -5000 0 -10000 10000 +Output 2 +-------- +This mixer is empty. + +M: 0 Motor speed mixer ----------------- @@ -43,9 +46,4 @@ range. Inputs below zero are treated as zero. M: 2 S: 0 0 10000 10000 0 -10000 10000 -S: 0 2 0 20000 -10000 -10000 10000 - - -We leave the fourth mixer empty. - -M: 0 +S: 0 3 0 20000 -10000 -10000 10000 |