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Diffstat (limited to 'ROMFS/px4fmu_common/mixers/Viper.mix')
-rwxr-xr-x | ROMFS/px4fmu_common/mixers/Viper.mix | 71 |
1 files changed, 71 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix new file mode 100755 index 000000000..5aa3828f2 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/Viper.mix @@ -0,0 +1,71 @@ +Viper Delta-wing mixer +================================= + +Designed for Viper. + +TODO (sjwilks): Add mixers for flaps. + +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 7500 7500 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 7500 7500 0 -10000 10000 +S: 0 1 -8000 -8000 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 + +Inputs to the mixer come from channel group 2 (payload), channels 0 +(bay servo 1), 1 (bay servo 2) and 3 (drop release). +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 2 -8000 -8000 0 -10000 10000 + + |