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author | px4dev <px4@purgatory.org> | 2012-08-11 11:28:05 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-11 11:28:05 -0700 |
commit | a2116d2058df2e44fe2e495063d198111fa1e365 (patch) | |
tree | 61002a79a240f0f94343f8e133c593bb2bd3cacc | |
parent | 65aec69705069d952c1b3c8d76fda752d7abe539 (diff) | |
download | px4-firmware-a2116d2058df2e44fe2e495063d198111fa1e365.tar.gz px4-firmware-a2116d2058df2e44fe2e495063d198111fa1e365.tar.bz2 px4-firmware-a2116d2058df2e44fe2e495063d198111fa1e365.zip |
Adjust sample mixer configurations and documentation to match new syntax.
-rw-r--r-- | ROMFS/mixers/FMU_AERT.mix | 16 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_AET.mix | 12 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_RET.mix | 12 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_delta.mix | 12 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_multirotor.mix | 16 | ||||
-rw-r--r-- | ROMFS/mixers/FMU_pass.mix | 16 | ||||
-rw-r--r-- | ROMFS/mixers/README | 66 |
7 files changed, 94 insertions, 56 deletions
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix index eb46da5fa..d7e317e13 100644 --- a/ROMFS/mixers/FMU_AERT.mix +++ b/ROMFS/mixers/FMU_AERT.mix @@ -22,8 +22,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 0 10000 10000 0 -10000 10000 Elevator mixer @@ -35,8 +35,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 1 10000 10000 0 -10000 10000 Rudder mixer @@ -48,8 +48,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 2 10000 10000 0 -10000 10000 Motor speed mixer @@ -59,6 +59,6 @@ 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 +M: 1 +O: 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 index 1f1931861..bd7056f7c 100644 --- a/ROMFS/mixers/FMU_AET.mix +++ b/ROMFS/mixers/FMU_AET.mix @@ -25,8 +25,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 0 10000 10000 0 -10000 10000 Elevator mixer @@ -38,8 +38,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 1 10000 10000 0 -10000 10000 Output 2 @@ -55,6 +55,6 @@ 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 +M: 1 +O: 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 index b2fff7224..156fcb129 100644 --- a/ROMFS/mixers/FMU_RET.mix +++ b/ROMFS/mixers/FMU_RET.mix @@ -18,8 +18,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 0 10000 10000 0 -10000 10000 Elevator mixer @@ -31,8 +31,8 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 1 10000 10000 0 -10000 10000 Output 2 @@ -48,6 +48,6 @@ 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 +M: 1 +O: 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 b01284ef7..981466704 100644 --- a/ROMFS/mixers/FMU_delta.mix +++ b/ROMFS/mixers/FMU_delta.mix @@ -21,13 +21,13 @@ input is inverted between the two servos. The scaling factor for roll inputs is adjusted to implement differential travel for the elevons. -M: 3 -S: 0 0 10000 10000 0 -10000 10000 +M: 2 +O: 10000 10000 0 -10000 10000 S: 0 0 3000 5000 0 -10000 10000 S: 0 1 5000 5000 0 -10000 10000 -M: 3 -S: 0 0 10000 10000 0 -10000 10000 +M: 2 +O: 10000 10000 0 -10000 10000 S: 0 0 5000 3000 0 -10000 10000 S: 0 1 -5000 -5000 0 -10000 10000 @@ -44,7 +44,7 @@ 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 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/mixers/FMU_multirotor.mix b/ROMFS/mixers/FMU_multirotor.mix index 6175b18e1..362cfdbdf 100644 --- a/ROMFS/mixers/FMU_multirotor.mix +++ b/ROMFS/mixers/FMU_multirotor.mix @@ -6,19 +6,19 @@ input range. Channel group 0, channels 0-3 values 0.0 - 1.0 are scaled to the full output range. -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 0 0 20000 -10000 -10000 10000 -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 1 0 20000 -10000 -10000 10000 -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 2 0 20000 -10000 -10000 10000 -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/mixers/FMU_pass.mix index 0e8e07a07..e9a81f2bb 100644 --- a/ROMFS/mixers/FMU_pass.mix +++ b/ROMFS/mixers/FMU_pass.mix @@ -5,19 +5,19 @@ This file defines passthrough mixers suitable for testing. Channel group 0, channels 0-3 are passed directly through to the outputs. -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 0 10000 10000 0 -10000 10000 -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 1 10000 10000 0 -10000 10000 -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 2 10000 10000 0 -10000 10000 -M: 2 -S: 0 0 10000 10000 0 -10000 10000 +M: 1 +O: 10000 10000 0 -10000 10000 S: 0 3 10000 10000 0 -10000 10000 diff --git a/ROMFS/mixers/README b/ROMFS/mixers/README index 482478fa7..3c740e37a 100644 --- a/ROMFS/mixers/README +++ b/ROMFS/mixers/README @@ -62,29 +62,67 @@ followed by a colon are significant. All other lines are ignored, meaning that explanatory text can be freely mixed with the definitions. Each file may define more than one mixer; the allocation of mixers to actuators -is specific to the device reading the mixer definition. +is specific to the device reading the mixer definition, and the number of +actuator outputs generated by a mixer is specific to the mixer. A mixer begins with a line of the form - M: <scaler count> + <tag>: <mixer arguments> -If the scaler count is zero, the mixer is a placeholder and the device will not -allocate a mixer for this position. Otherwise, this line is followed by scaler -definitions matching the given count. +The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a +multirotor mixer, etc. -A scaler definition is a line of the form: +Null Mixer +.......... - S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> +A null mixer consumes no controls and generates a single actuator output whose +value is always zero. Typically a null mixer is used as a placeholder in a +collection of mixers in order to achieve a specific pattern of actuator outputs. -The first scaler definition following the M: line configures the output scaler. -The <group> and <index> fields are ignored in this case. +The null mixer definition has the form: -For the remaining scalers, the <group> value identifies the control group from -which the scaler will read. Control group 0 is the vehicle attitude control -group; other group numbers may be assigned for other purposes. The <index> value -selects the control within the group that will be scaled. + Z: -The remaining fields on the line represent the scaler parameters as discussed +Simple Mixer +............ + +A simple mixer combines zero or more control inputs into a single actuator +output. Inputs are scaled, and the mixing function sums the result before +applying an output scaler. + +A simple mixer definition begins with: + + M: <control count> + O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> + +If <control count> is zero, the sum is effectively zero and the mixer will +output a fixed value that is <offset> constrained by <lower limit> and <upper +limit>. + +The second line defines the output scaler with scaler parameters as discussed above. Whilst the calculations are performed as floating-point operations, the values stored in the definition file are scaled by a factor of 10000; i.e. an offset of -0.5 is encoded as -5000. + +The definition continues with <control count> entries describing the control +inputs and their scaling, in the form: + + S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> + +The <group> value identifies the control group from which the scaler will read, +and the <index> value an offset within that group. These values are specific to +the device reading the mixer definition. + +When used to mix vehicle controls, mixer group zero is the vehicle attitude +control group, and index values zero through three are normally roll, pitch, +yaw and thrust respectively. + +The remaining fields on the line configure the control scaler with parameters as +discussed above. Whilst the calculations are performed as floating-point +operations, the values stored in the definition file are scaled by a factor of +10000; i.e. an offset of -0.5 is encoded as -5000. + +Multirotor Mixer +................ + +The multirotor mixer is not yet defined. |