diff options
Diffstat (limited to 'ROMFS/px4fmu_common/mixers/CCPM.main.mix')
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/CCPM.main.mix | 53 |
1 files changed, 53 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/CCPM.main.mix b/ROMFS/px4fmu_common/mixers/CCPM.main.mix new file mode 100644 index 000000000..1c45b3e59 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/CCPM.main.mix @@ -0,0 +1,53 @@ +Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU +================================================== + + +Output 0 - Rear Servo Mixer +---------------- + +Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1) + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + + +Output 1 - Left Servo Mixer +----------------- +Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0) + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 8660 8660 0 -10000 10000 + + +Output 2 - Right Servo Mixer +---------------- +Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0) + + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 -8660 -8660 0 -10000 10000 + +Output 3 - Tail Servo Mixer +---------------- +Tail Servo = Yaw (control index = 2) + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + + +Output 4 - Motor speed mixer +----------------- +This would be the motor speed control output from governor power demand- not sure what index to use here? + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 0 20000 -10000 -10000 10000 |