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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-07-12 17:38:49 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-07-12 17:38:49 +0400 |
| commit | 9a56892c2b48f7cd25358f9d21076443ef252eff (patch) | |
| tree | 2996d8a04e9dde51a21382e030974a08f53dfa6e /ROMFS | |
| parent | e64a28e736224da5d1db8e3477eeeffc0b3b1f6c (diff) | |
| parent | 66e840ebd784c376aeb8c447541d17ab3fa9cf0f (diff) | |
| download | px4-firmware-9a56892c2b48f7cd25358f9d21076443ef252eff.tar.gz px4-firmware-9a56892c2b48f7cd25358f9d21076443ef252eff.tar.bz2 px4-firmware-9a56892c2b48f7cd25358f9d21076443ef252eff.zip | |
Merge branch 'master' into uavcan
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/3033_wingwing | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/wingwing.mix | 51 |
2 files changed, 52 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index fff4b58df..3cbbd555e 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -32,7 +32,7 @@ then param set FW_THR_CRUISE 0.65 fi -set MIXER FMU_Q +set MIXER wingwing # Provide ESC a constant 1000 us pulse set PWM_OUTPUTS 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/mixers/wingwing.mix b/ROMFS/px4fmu_common/mixers/wingwing.mix new file mode 100644 index 000000000..08333ba5c --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/wingwing.mix @@ -0,0 +1,51 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Wing Wing Z-84 + +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 -6000 -6000 0 -10000 10000 +S: 0 1 6500 6500 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -6000 -6000 0 -10000 10000 +S: 0 1 -6500 -6500 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 |