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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-10 18:04:57 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-10 18:04:57 +0100 |
| commit | ab44a64ca01f35d9f9777d18a01ff9f35996fbf2 (patch) | |
| tree | ed3a0e9140e9634c5a1bd865e083c24e2ad288c9 /ROMFS | |
| parent | dbffca01ff8826e3c3972a088d2368b727a28370 (diff) | |
| download | px4-firmware-ab44a64ca01f35d9f9777d18a01ff9f35996fbf2.tar.gz px4-firmware-ab44a64ca01f35d9f9777d18a01ff9f35996fbf2.tar.bz2 px4-firmware-ab44a64ca01f35d9f9777d18a01ff9f35996fbf2.zip | |
Updated mixers for Q and X5
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/Makefile | 3 | ||||
| -rw-r--r-- | ROMFS/mixers/FMU_Q.mix | 52 | ||||
| -rw-r--r-- | ROMFS/mixers/FMU_X5.mix (renamed from ROMFS/mixers/FMU_delta.mix) | 0 |
3 files changed, 54 insertions, 1 deletions
diff --git a/ROMFS/Makefile b/ROMFS/Makefile index 3b024de06..d827fa491 100644 --- a/ROMFS/Makefile +++ b/ROMFS/Makefile @@ -23,7 +23,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \ $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \ - $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \ + $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \ + $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \ $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \ $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \ diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/mixers/FMU_Q.mix new file mode 100644 index 000000000..a35d299fd --- /dev/null +++ b/ROMFS/mixers/FMU_Q.mix @@ -0,0 +1,52 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Bormatec Camflyer Q + +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 + diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_X5.mix index 981466704..981466704 100644 --- a/ROMFS/mixers/FMU_delta.mix +++ b/ROMFS/mixers/FMU_X5.mix |