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author | Julian Oes <joes@student.ethz.ch> | 2013-02-11 16:54:36 -0800 |
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committer | Julian Oes <joes@student.ethz.ch> | 2013-02-11 16:54:36 -0800 |
commit | 6fe5291147fc7186a8054b05d6fe4939adabee92 (patch) | |
tree | ca959dafa29196ad3e27c42213d6af13c82a244e /ROMFS/mixers/FMU_X5.mix | |
parent | c19870d565221effca545077356c89defd14bf6e (diff) | |
parent | ab44a64ca01f35d9f9777d18a01ff9f35996fbf2 (diff) | |
download | px4-firmware-6fe5291147fc7186a8054b05d6fe4939adabee92.tar.gz px4-firmware-6fe5291147fc7186a8054b05d6fe4939adabee92.tar.bz2 px4-firmware-6fe5291147fc7186a8054b05d6fe4939adabee92.zip |
Merge remote-tracking branch 'upstream/master' into attitude_filter_improvement
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 + |