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author | Anton Matosov <anton.matosov@gmail.com> | 2015-01-07 00:25:06 +0200 |
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committer | Anton Matosov <anton.matosov@gmail.com> | 2015-01-08 00:53:52 +0200 |
commit | 08062e6546f02cb2e819f690d35b485425788cc4 (patch) | |
tree | 34707300cb69fc63bb89bdc31e3feabad08a84d1 /ROMFS/px4fmu_common/mixers/AET.main.mix | |
parent | 74b63d08e1f2dd34b2c18be9d46d0837a9be5b9f (diff) | |
download | px4-firmware-08062e6546f02cb2e819f690d35b485425788cc4.tar.gz px4-firmware-08062e6546f02cb2e819f690d35b485425788cc4.tar.bz2 px4-firmware-08062e6546f02cb2e819f690d35b485425788cc4.zip |
Changed naming of the mixers to get rid of umbiguity as outputs are actually going to be driven by io, not fmu
Implemented automatic lookup for the .aux.mix file if it exists
Diffstat (limited to 'ROMFS/px4fmu_common/mixers/AET.main.mix')
-rw-r--r-- | ROMFS/px4fmu_common/mixers/AET.main.mix | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/AET.main.mix b/ROMFS/px4fmu_common/mixers/AET.main.mix new file mode 100644 index 000000000..c73cb2a62 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/AET.main.mix @@ -0,0 +1,80 @@ +Aileron/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, elevator and throttle controls using PX4FMU. The configuration assumes +the aileron servo(s) are 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). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are 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. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +Alternatively, output 2 could be used as a second aileron servo output with +separate mixing. + +M: 1 +O: 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: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 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 + + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 |