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| -rw-r--r-- | ROMFS/px4fmu_common/mixers/README.md (renamed from ROMFS/px4fmu_common/mixers/README) | 17 |
1 files changed, 6 insertions, 11 deletions
diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README.md index f671a177c..b766d05aa 100644 --- a/ROMFS/px4fmu_common/mixers/README +++ b/ROMFS/px4fmu_common/mixers/README.md @@ -1,14 +1,12 @@ -PX4 mixer definitions -===================== +## PX4 mixer definitions ## Files in this directory implement example mixers that can be used as a basis for customisation, or for general testing purposes. For a detailed description of the mixing architecture and examples see: -https://pixhawk.org/dev/mixing +http://px4.io/dev/mixing -Syntax ------- +### Syntax ### Mixer definitions are text files; lines beginning with a single capital letter followed by a colon are significant. All other lines are ignored, meaning that @@ -28,8 +26,7 @@ A mixer begins with a line of the form The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a multirotor mixer, etc. -Null Mixer -.......... +#### Null Mixer #### A null mixer consumes no controls and generates a single actuator output whose value is always zero. Typically a null mixer is used as a placeholder in a @@ -39,8 +36,7 @@ The null mixer definition has the form: Z: -Simple Mixer -............ +#### Simple Mixer #### A simple mixer combines zero or more control inputs into a single actuator output. Inputs are scaled, and the mixing function sums the result before @@ -78,8 +74,7 @@ discussed above. Whilst the calculations are performed as floating-point operations, the values stored in the definition file are scaled by a factor of 10000; i.e. an offset of -0.5 is encoded as -5000. -Multirotor Mixer -................ +#### Multirotor Mixer #### The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) into a set of actuator outputs intended to drive motor speed controllers. |