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Diffstat (limited to 'ROMFS/mixers/README')
-rw-r--r-- | ROMFS/mixers/README | 28 |
1 files changed, 27 insertions, 1 deletions
diff --git a/ROMFS/mixers/README b/ROMFS/mixers/README index 3c740e37a..6649c53c2 100644 --- a/ROMFS/mixers/README +++ b/ROMFS/mixers/README @@ -125,4 +125,30 @@ operations, the values stored in the definition file are scaled by a factor of Multirotor Mixer ................ -The multirotor mixer is not yet defined. +The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) +into a set of actuator outputs intended to drive motor speed controllers. + +The mixer definition is a single line of the form: + +R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> + +The supported geometries include: + + 4x - quadrotor in X configuration + 4+ - quadrotor in + configuration + 6x - hexcopter in X configuration + 6+ - hexcopter in + configuration + 8x - octocopter in X configuration + 8+ - octocopter in + configuration + +Each of the roll, pitch and yaw scale values determine scaling of the roll, +pitch and yaw controls relative to the thrust control. 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 factor of 0.5 is encoded as 5000. + +Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the +thrust input ranges from 0.0 to 1.0. Output for each actuator is in the +range -1.0 to 1.0. + +In the case where an actuator saturates, all actuator values are rescaled so that +the saturating actuator is limited to 1.0. |