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author | px4dev <px4@purgatory.org> | 2013-04-06 11:16:54 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-04-06 11:16:54 -0700 |
commit | aa09ebd7d3cb0d06781470e400e61c75b449985b (patch) | |
tree | 394d00add02673ccd6f8938e0aa87ab9608ce28b /ROMFS/px4fmu_common/mixers/FMU_AERT.mix | |
parent | e5fa9dbcea5defb49506dc60a35e134b3736bbb6 (diff) | |
download | px4-firmware-aa09ebd7d3cb0d06781470e400e61c75b449985b.tar.gz px4-firmware-aa09ebd7d3cb0d06781470e400e61c75b449985b.tar.bz2 px4-firmware-aa09ebd7d3cb0d06781470e400e61c75b449985b.zip |
Share the ROMFS prototype betwen FMUv1 and v2
Diffstat (limited to 'ROMFS/px4fmu_common/mixers/FMU_AERT.mix')
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AERT.mix | 64 |
1 files changed, 64 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix new file mode 100644 index 000000000..75e82bb00 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix @@ -0,0 +1,64 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, 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, the rudder to output 2 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. + +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 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +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: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 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: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 |