More example mixers; three different fixed-wing configurations for FMU.

5 files changed, 191 insertions, 13 deletions

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 3f7d4484f..de49c36fc 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -21,7 +21,10 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
 		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
 		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
-		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix
+		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.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
 
 #
 # Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix
new file mode 100644
index 000000000..18be38bbd
--- /dev/null
+++ b/ROMFS/mixers/FMU_AERT.mix
@@ -0,0 +1,64 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suirable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+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: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix
new file mode 100644
index 000000000..bd038edc5
--- /dev/null
+++ b/ROMFS/mixers/FMU_AET.mix
@@ -0,0 +1,60 @@
+Aileron/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suirable for controlling a fixed wing aircraft with
+aileron, elevator and throttle controls using PX4FMU. The configuration  assumes
+the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
+output 1 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+Alternatively, output 2 could be used as a second aileron servo output with
+separate mixing.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+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: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
new file mode 100644
index 000000000..e8762787b
--- /dev/null
+++ b/ROMFS/mixers/FMU_RET.mix
@@ -0,0 +1,53 @@
+Rudder/elevator/throttle mixer for PX4FMU
+=========================================
+
+This file defines mixers suirable for controlling a fixed wing aircraft with
+rudder, elevator and throttle controls using PX4FMU. The configuration assumes
+the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
+and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Rudder mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+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: 2
+S: 0 0  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_delta.mix
index 75493c578..8f2d12be3 100644
--- a/ROMFS/mixers/FMU_delta.mix
+++ b/ROMFS/mixers/FMU_delta.mix
@@ -1,12 +1,10 @@
 Delta-wing mixer for PX4FMU
 ===========================
 
-Lines in this file that begin with a capital letter and a colon are interpreted
-as mixer commands.  All other lines are ignored.
-
-This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo
-outputs 0 and 1 and the motor speed control to output 2. Output 3 is assumed to
-be unused.
+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).
@@ -33,6 +31,11 @@ S: 0 0  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.
+
+M: 0
 
 Motor speed mixer
 -----------------
@@ -43,9 +46,4 @@ range.  Inputs below zero are treated as zero.
 
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 2      0  20000 -10000 -10000  10000
-
-
-We leave the fourth mixer empty.
-
-M: 0
+S: 0 3      0  20000 -10000 -10000  10000