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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-15 10:35:26 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-15 10:35:26 +0200 |
commit | e162178f35cd1263abd2256ca0c8c7e4af7d2cfa (patch) | |
tree | bab9ce6880cb9e6ec2803a49615746ae5ce508db | |
parent | d0cca02e97a24cf0b9554cf429bbd5716f947e4e (diff) | |
parent | e91a4217ad23a0f5190b0e34b7621a5170632a43 (diff) | |
download | px4-firmware-e162178f35cd1263abd2256ca0c8c7e4af7d2cfa.tar.gz px4-firmware-e162178f35cd1263abd2256ca0c8c7e4af7d2cfa.tar.bz2 px4-firmware-e162178f35cd1263abd2256ca0c8c7e4af7d2cfa.zip |
Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3031_phantom | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/phantom.mix | 67 | ||||
-rw-r--r-- | src/modules/commander/airspeed_calibration.cpp | 2 |
3 files changed, 69 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index d05c3174f..654b0bdab 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -36,7 +36,7 @@ then param set FW_T_TIME_CONST 5 fi -set MIXER FMU_Q +set MIXER phantom # Provide ESC a constant 1000 us pulse set PWM_OUTPUTS 4 diff --git a/ROMFS/px4fmu_common/mixers/phantom.mix b/ROMFS/px4fmu_common/mixers/phantom.mix new file mode 100644 index 000000000..00c37a16c --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/phantom.mix @@ -0,0 +1,67 @@ +Phantom FX-61 mixer +=================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4/Pixhawk. The configuration assumes the elevon servos are connected to +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 are set so that pitch will have more travel than roll. + +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 + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 598cfe9e2..0e58c68b6 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -186,7 +186,7 @@ int do_airspeed_calibration(int mavlink_fd) usleep(500 * 1000); calibration_counter = 0; - const int maxcount = 3000; + const unsigned maxcount = 3000; /* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */ while (calibration_counter < maxcount) { |