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| author | Duncan Greer <duncangreer@gmail.com> | 2013-05-18 20:07:01 +1000 |
|---|---|---|
| committer | Duncan Greer <duncangreer@gmail.com> | 2013-05-18 20:32:42 +1000 |
| commit | 40b732b3366db18efb7a8365746c869feca8c843 (patch) | |
| tree | 972360f673e48bfda9e641d7d6c98394075b4358 /ROMFS | |
| parent | 504b6d12561d68874ded4c1f747c21926a065045 (diff) | |
| download | px4-firmware-40b732b3366db18efb7a8365746c869feca8c843.tar.gz px4-firmware-40b732b3366db18efb7a8365746c869feca8c843.tar.bz2 px4-firmware-40b732b3366db18efb7a8365746c869feca8c843.zip | |
Added CCPM mixer
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_CCPM.mix | 53 |
1 files changed, 53 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix new file mode 100644 index 000000000..8ac1626c7 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix @@ -0,0 +1,53 @@ +Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU +================================================== + + +Output 0 - Rear Servo Mixer +---------------- + +Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1) + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + + +Output 1 - Left Servo Mixer +----------------- +Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0) + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 8660 8660 0 -10000 10000 + + +Output 2 - Right Servo Mixer +---------------- +Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0) + + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 -8660 -8660 0 -10000 10000 + +Output 3 - Tail Servo Mixer +---------------- +Tail Servo = Yaw (control index = 2) + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + + +Output 4 - Motor speed mixer +----------------- +This would be the governor output - not sure what group id to use here? + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 0 20000 -10000 -10000 10000 |