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| author | px4dev <px4@purgatory.org> | 2012-08-05 20:20:46 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-08-05 20:20:46 -0700 |
| commit | 74b8e31fd8365cd74bf96034721fdd95b707772f (patch) | |
| tree | 5fd23ce7ccba7846a8aab79f49aba6de8e79dbbb /ROMFS | |
| parent | 528095a20b119f8ff50e8775b5290dfc1305003e (diff) | |
| download | px4-firmware-74b8e31fd8365cd74bf96034721fdd95b707772f.tar.gz px4-firmware-74b8e31fd8365cd74bf96034721fdd95b707772f.tar.bz2 px4-firmware-74b8e31fd8365cd74bf96034721fdd95b707772f.zip | |
VERY rough mixer definitions for quadrotors in X and + configuration using PX4FMU.
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/mixers/FMU_quad+.mix | 54 | ||||
| -rw-r--r-- | ROMFS/mixers/FMU_quadX.mix | 54 |
2 files changed, 108 insertions, 0 deletions
diff --git a/ROMFS/mixers/FMU_quad+.mix b/ROMFS/mixers/FMU_quad+.mix new file mode 100644 index 000000000..1ab38ef6d --- /dev/null +++ b/ROMFS/mixers/FMU_quad+.mix @@ -0,0 +1,54 @@ +Quadrotor + mixer for PX4FMU +============================ + +This file defines mixers suitable for controlling a quadrotor in the + +arrangement using PX4FMU. The configuration assumes the motors are connected +starting with the front motor on output 0 and proceeding clockwise. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (yaw) and 3 (thrust). + +See the README for more information on the scaler format. + +Scale values here will definitely need tuning. + +Front +----- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 0 0 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Right +----- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 1000 1000 0 -10000 10000 +S: 0 1 0 0 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Back +---- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 0 0 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Left +---- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 -1000 -1000 0 -10000 10000 +S: 0 1 0 0 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/mixers/FMU_quadX.mix b/ROMFS/mixers/FMU_quadX.mix new file mode 100644 index 000000000..5a8641fa0 --- /dev/null +++ b/ROMFS/mixers/FMU_quadX.mix @@ -0,0 +1,54 @@ +Quadrotor X mixer for PX4FMU +============================ + +This file defines mixers suitable for controlling a quadrotor in the X +arrangement using PX4FMU. The configuration assumes the motors are connected +starting with the front-right motor on output 0 and proceeding clockwise. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (yaw) and 3 (thrust). + +See the README for more information on the scaler format. + +Scale values here will definitely need tuning. + +Front right +----------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 1000 1000 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Back right +---------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 1000 1000 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Back left +--------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 -1000 -1000 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Front left +---------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 -1000 -1000 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + |