Add a sample mixer definition and documentation.

Add support for comments in mixer definitions.

1 files changed, 51 insertions, 0 deletions

diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_delta.mix
new file mode 100644
index 000000000..75493c578
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+++ b/ROMFS/mixers/FMU_delta.mix
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+Delta-wing mixer for PX4FMU
+===========================
+
+Lines in this file that begin with a capital letter and a colon are interpreted
+as mixer commands.  All other lines are ignored.
+
+This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo
+outputs 0 and 1 and the motor speed control to output 2. Output 3 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: 3
+S: 0 0  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
+S: 0 0   5000   3000      0 -10000  10000
+S: 0 1  -5000  -5000      0 -10000  10000
+
+
+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 2      0  20000 -10000 -10000  10000
+
+
+We leave the fourth mixer empty.
+
+M: 0