diff options
author | px4dev <px4@purgatory.org> | 2012-08-05 16:54:50 -0700 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2012-08-05 16:54:50 -0700 |
commit | 5c30722e77feaa238ae4b685cc4fca98102282de (patch) | |
tree | eb034e05441c83c380ec2c2eb0bdeb7d690916b9 /ROMFS/mixers/FMU_RET.mix | |
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.
Diffstat (limited to 'ROMFS/mixers/FMU_RET.mix')
-rw-r--r-- | ROMFS/mixers/FMU_RET.mix | 53 |
1 files changed, 53 insertions, 0 deletions
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 |