diff options
Diffstat (limited to 'ROMFS/px4fmu_common/mixers')
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AERT.mix | 64 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AET.mix | 60 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_Q.mix | 52 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_RET.mix | 53 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_X5.mix | 50 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_delta.mix | 50 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_hex_+.mix | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_hex_x.mix | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_octo_+.mix | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_octo_x.mix | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_pass.mix | 23 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_+.mix | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_x.mix | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/README | 154 |
14 files changed, 548 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix new file mode 100644 index 000000000..75e82bb00 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix @@ -0,0 +1,64 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +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 diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix new file mode 100644 index 000000000..20cb88b91 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix @@ -0,0 +1,60 @@ +Aileron/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, elevator and throttle controls using PX4FMU. The configuration assumes +the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to +output 1 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +Alternatively, output 2 could be used as a second aileron servo output with +separate mixing. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 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 diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix new file mode 100644 index 000000000..ebcb66b24 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix @@ -0,0 +1,52 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Bormatec Camflyer Q + +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 -5000 -8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -5000 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 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix new file mode 100644 index 000000000..95beb8927 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix @@ -0,0 +1,53 @@ +Rudder/elevator/throttle mixer for PX4FMU +========================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +rudder, elevator and throttle controls using PX4FMU. The configuration assumes +the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 +and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Rudder mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 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 diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix new file mode 100644 index 000000000..9f81e1dc3 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +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 -3000 -5000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -3000 0 -10000 10000 +S: 0 1 5000 5000 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 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +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 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 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 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix new file mode 100644 index 000000000..b5e38ce9e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the + configuration. All controls +are mixed 100%. + +R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix new file mode 100644 index 000000000..8e8d122ad --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the X configuration. All controls +are mixed 100%. + +R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix new file mode 100644 index 000000000..2cb70e814 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the + configuration. All controls +are mixed 100%. + +R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix new file mode 100644 index 000000000..edc71f013 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the X configuration. All controls +are mixed 100%. + +R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix new file mode 100644 index 000000000..e9a81f2bb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix @@ -0,0 +1,23 @@ +Passthrough mixer for PX4FMU +============================ + +This file defines passthrough mixers suitable for testing. + +Channel group 0, channels 0-3 are passed directly through to the outputs. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix new file mode 100644 index 000000000..dfdf1d58e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the + configuration. All controls +are mixed 100%. + +R: 4+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix new file mode 100644 index 000000000..12a3bee20 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the X configuration. All controls +are mixed 100%. + +R: 4x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README new file mode 100644 index 000000000..6649c53c2 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/README @@ -0,0 +1,154 @@ +PX4 mixer definitions +===================== + +Files in this directory implement example mixers that can be used as a basis +for customisation, or for general testing purposes. + +Mixer basics +------------ + +Mixers combine control values from various sources (control tasks, user inputs, +etc.) and produce output values suitable for controlling actuators; servos, +motors, switches and so on. + +An actuator derives its value from the combination of one or more control +values. Each of the control values is scaled according to the actuator's +configuration and then combined to produce the actuator value, which may then be +further scaled to suit the specific output type. + +Internally, all scaling is performed using floating point values. Inputs and +outputs are clamped to the range -1.0 to 1.0. + +control control control + | | | + v v v + scale scale scale + | | | + | v | + +-------> mix <------+ + | + scale + | + v + out + +Scaling +------- + +Basic scalers provide linear scaling of the input to the output. + +Each scaler allows the input value to be scaled independently for inputs +greater/less than zero. An offset can be applied to the output, and lower and +upper boundary constraints can be applied. Negative scaling factors cause the +output to be inverted (negative input produces positive output). + +Scaler pseudocode: + +if (input < 0) + output = (input * NEGATIVE_SCALE) + OFFSET +else + output = (input * POSITIVE_SCALE) + OFFSET + +if (output < LOWER_LIMIT) + output = LOWER_LIMIT +if (output > UPPER_LIMIT) + output = UPPER_LIMIT + +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 +explanatory text can be freely mixed with the definitions. + +Each file may define more than one mixer; the allocation of mixers to actuators +is specific to the device reading the mixer definition, and the number of +actuator outputs generated by a mixer is specific to the mixer. + +A mixer begins with a line of the form + + <tag>: <mixer arguments> + +The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a +multirotor mixer, etc. + +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 +collection of mixers in order to achieve a specific pattern of actuator outputs. + +The null mixer definition has the form: + + Z: + +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 +applying an output scaler. + +A simple mixer definition begins with: + + M: <control count> + O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> + +If <control count> is zero, the sum is effectively zero and the mixer will +output a fixed value that is <offset> constrained by <lower limit> and <upper +limit>. + +The second line defines the output scaler with scaler parameters as 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. + +The definition continues with <control count> entries describing the control +inputs and their scaling, in the form: + + S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> + +The <group> value identifies the control group from which the scaler will read, +and the <index> value an offset within that group. These values are specific to +the device reading the mixer definition. + +When used to mix vehicle controls, mixer group zero is the vehicle attitude +control group, and index values zero through three are normally roll, pitch, +yaw and thrust respectively. + +The remaining fields on the line configure the control scaler with parameters as +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 +................ + +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. |