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authorLorenz Meier <lm@inf.ethz.ch>2013-10-15 09:10:40 +0200
committerLorenz Meier <lm@inf.ethz.ch>2013-10-15 09:10:40 +0200
commit99068e864beaabf3b2dfabfb2e2f1c6cb7df7095 (patch)
tree7763b67e3162a447b763b5f5910e39a5c5d4c94f /ROMFS/px4fmu_common/mixers
parent7232a6f1438acc24d77f3ef684266f071a95b8d6 (diff)
downloadpx4-firmware-99068e864beaabf3b2dfabfb2e2f1c6cb7df7095.tar.gz
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Enable payload channels as direct pass-through from manual control
Diffstat (limited to 'ROMFS/px4fmu_common/mixers')
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_AERT.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_AET.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_Q.mix18
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_RET.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_X5.mix19
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_delta.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_hex_+.mix11
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_hex_x.mix11
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_+.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_v.mix19
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_w.mix19
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_x.mix19
12 files changed, 216 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 75e82bb00..0ec663e35 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
@@ -62,3 +62,23 @@ 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
index 20cb88b91..c73cb2a62 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
@@ -58,3 +58,23 @@ 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
index ebcb66b24..17ff71151 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
@@ -50,3 +50,21 @@ 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
index 95beb8927..f07c34ac8 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
@@ -51,3 +51,23 @@ 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 / 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
index 9f81e1dc3..610868354 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
@@ -48,3 +48,22 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+Gimbal / 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
+
diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
index 981466704..f0aa6650d 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_delta.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
@@ -48,3 +48,23 @@ 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
+
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
index b5e38ce9e..f8f9f0e4d 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
are mixed 100%.
R: 6+ 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
index 8e8d122ad..26b40b9e9 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration. All c
are mixed 100%.
R: 6x 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
index dfdf1d58e..cd9a9cfab 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
@@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
are mixed 100%.
R: 4+ 10000 10000 10000 0
+
+
+Gimbal / 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
index 2a4a0f341..520aba635 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration. All co
are mixed 100%.
R: 4v 10000 10000 10000 0
+
+Gimbal / 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
index 81b4af30b..58e6af74b 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
@@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
R: 4w 10000 10000 10000 0
+
+Gimbal / 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
index 12a3bee20..fa21c8012 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration. All co
are mixed 100%.
R: 4x 10000 10000 10000 0
+
+Gimbal / 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-22 08:25:18 +0000