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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-12 09:34:41 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-12 09:34:41 +0100 |
commit | b750a588a077c473685ed4115c93907a92867bf1 (patch) | |
tree | f307650c7875b86fbbf2915fde8cd9ea519a0a00 /ROMFS/mixers/FMU_X5.mix | |
parent | 163257f3bd4ebe13f6f3eda537793602035baf28 (diff) | |
parent | ab44a64ca01f35d9f9777d18a01ff9f35996fbf2 (diff) | |
download | px4-firmware-b750a588a077c473685ed4115c93907a92867bf1.tar.gz px4-firmware-b750a588a077c473685ed4115c93907a92867bf1.tar.bz2 px4-firmware-b750a588a077c473685ed4115c93907a92867bf1.zip |
Merge branch 'master' of github.com:PX4/Firmware into px4io-i2c
Diffstat (limited to 'ROMFS/mixers/FMU_X5.mix')
-rw-r--r-- | ROMFS/mixers/FMU_X5.mix | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/mixers/FMU_X5.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/mixers/FMU_X5.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +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). + +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 for roll inputs is adjusted to implement differential travel +for the elevons. + +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: 2 +O: 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. + +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 + |