More example mixers; three different fixed-wing configurations for FMU.

1 files changed, 53 insertions, 0 deletions

diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
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+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