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author | px4dev <px4@purgatory.org> | 2013-01-16 23:40:40 -0800 |
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committer | px4dev <px4@purgatory.org> | 2013-02-23 22:00:59 -0800 |
commit | a7a1cc4625ea4097761a9aef88f9f0b4608944a4 (patch) | |
tree | 485d956b313182e5c768682ffe76d91c86e330e1 /ROMFS/px4fmu_default/mixers/FMU_X5.mix | |
parent | 963621c1f34ce3ed7fd43c9943a0841404431d89 (diff) | |
download | px4-firmware-a7a1cc4625ea4097761a9aef88f9f0b4608944a4.tar.gz px4-firmware-a7a1cc4625ea4097761a9aef88f9f0b4608944a4.tar.bz2 px4-firmware-a7a1cc4625ea4097761a9aef88f9f0b4608944a4.zip |
Add support for per-config ROMFS generation.
Diffstat (limited to 'ROMFS/px4fmu_default/mixers/FMU_X5.mix')
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_X5.mix | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_default/mixers/FMU_X5.mix b/ROMFS/px4fmu_default/mixers/FMU_X5.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_default/mixers/FMU_X5.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +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 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 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 + |