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author | Simon Wilks <sjwilks@gmail.com> | 2013-12-28 14:45:29 +0100 |
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committer | Simon Wilks <sjwilks@gmail.com> | 2013-12-28 14:45:29 +0100 |
commit | 4e5f743e4184269b05bb037d4787665afe996ab8 (patch) | |
tree | c7f1b83b982ed1c145392bbb880f26710f68ec56 /ROMFS/px4fmu_common/mixers | |
parent | 89cc7257a20f134338652f53d7b5ffcde9c1074c (diff) | |
download | px4-firmware-4e5f743e4184269b05bb037d4787665afe996ab8.tar.gz px4-firmware-4e5f743e4184269b05bb037d4787665afe996ab8.tar.bz2 px4-firmware-4e5f743e4184269b05bb037d4787665afe996ab8.zip |
Added config for the FX-79
Diffstat (limited to 'ROMFS/px4fmu_common/mixers')
-rwxr-xr-x | ROMFS/px4fmu_common/mixers/FMU_FX79.mix | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix new file mode 100755 index 000000000..0a1dca98d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -0,0 +1,72 @@ +FX-79 Delta-wing mixer for PX4FMU +================================= + +Designed for FX-79. + +TODO (sjwilks): Add mixers for flaps. + +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 5000 8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 8000 5000 0 -10000 10000 +S: 0 1 -8000 -8000 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 |