diff options
Diffstat (limited to 'ROMFS/px4fmu_common')
20 files changed, 672 insertions, 20 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 5e4028bbb..5e4028bbb 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil new file mode 100644 index 000000000..1c85e04f2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -0,0 +1,110 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] HILS quadrotor + starting.." + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.0 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.05 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 3.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.1 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.05 + param set NAV_TAKEOFF_ALT 3.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.5 + param set MPC_THR_MIN 0.1 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param save +fi + +# Allow USB some time to come up +sleep 1 +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/ttyACM0 + +# Create a fake HIL /dev/pwm_output interface +hil mode_pwm + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if px4io start +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +fi + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start the attitude estimator (depends on orb) +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start + +echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil new file mode 100644 index 000000000..8c5e4b6a8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -0,0 +1,103 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] HILStar starting.." + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 100 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_Y_ROLLFF 1.1 + param set FW_L1_PERIOD 16 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# Allow USB some time to come up +sleep 1 +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/ttyACM0 + +# Create a fake HIL /dev/pwm_output interface +hil mode_pwm + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 1 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if px4io start +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +fi + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start the attitude estimator (depends on orb) +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +set MODE autostart +mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix +if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix +else + echo "Using /etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix +fi + + +fw_pos_control_l1 start +fw_att_control start + +echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex new file mode 100644 index 000000000..0f0bb05ce --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/12-13_hex @@ -0,0 +1,95 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on Hex" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + param set NAV_TAKEOFF_ALT 3.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.7 + param set MPC_THR_MIN 0.3 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/ +# 13 = hexarotor +# +param set MAV_TYPE 13 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 900 900 + px4io min 1200 1200 1200 1200 1200 1200 + px4io max 1900 1900 1900 1900 1900 1900 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer +# +mixer load /dev/pwm_output $MIXER + +# +# Set PWM output frequency to 400 Hz +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 b/ROMFS/px4fmu_common/init.d/32_skywalker_x5 new file mode 100644 index 000000000..cd7677112 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/32_skywalker_x5 @@ -0,0 +1,86 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + commander start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + commander start + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude and position estimator +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +fi +fw_att_control start +fw_pos_control_l1 start + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway index 4b7ed5286..fb9dec043 100644 --- a/ROMFS/px4fmu_common/init.d/40_io_segway +++ b/ROMFS/px4fmu_common/init.d/40_io_segway @@ -52,5 +52,5 @@ attitude_estimator_ekf start # # Load mixer and start controllers (depends on px4io) # -md25 start 3 0x58 +roboclaw start /dev/ttyS2 128 1200 segway start diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc index d750cc87a..0c0cfa53d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc +++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc @@ -58,7 +58,7 @@ usleep 10000 if px4io detect then # Start MAVLink (depends on orb) - mavlink start -d /dev/ttyS1 -b 115200 + mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 commander start @@ -67,7 +67,7 @@ then else fmu mode_pwm # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS1 -b 115200 + mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 param set BAT_V_SCALING 0.004593 set EXIT_ON_END yes diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5fb62af48..cff8446a6 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -108,25 +108,41 @@ then if param compare SYS_AUTOSTART 1000 then - sh /etc/init.d/1000_rc_fw.hil + sh /etc/init.d/1000_rc_fw_easystar.hil + set MODE custom + fi + + if param compare SYS_AUTOSTART 1001 + then + sh /etc/init.d/1001_rc_quad.hil + set MODE custom + fi + + if param compare SYS_AUTOSTART 1002 + then + sh /etc/init.d/1002_rc_fw_state.hil + set MODE custom + fi + + if param compare SYS_AUTOSTART 1003 + then + sh /etc/init.d/1003_rc_quad_+.hil + set MODE custom + fi + + if param compare SYS_AUTOSTART 1004 + then + sh /etc/init.d/1004_rc_fw_Rascal110.hil set MODE custom - else - if param compare SYS_AUTOSTART 1001 - then - sh /etc/init.d/1001_rc_quad.hil - set MODE custom - else - if param compare SYS_AUTOSTART 1002 - then - sh /etc/init.d/1002_rc_fw_state.hil - set MODE custom - else - # Try to get an USB console - nshterm /dev/ttyACM0 & - fi - fi fi + if [ $MODE != custom ] + then + # Try to get an USB console + nshterm /dev/ttyACM0 & + fi + + # # Upgrade PX4IO firmware # @@ -177,6 +193,20 @@ then sh /etc/init.d/11_dji_f450 set MODE custom fi + + if param compare SYS_AUTOSTART 12 + then + set MIXER /etc/mixers/FMU_hex_x.mix + sh /etc/init.d/12-13_hex + set MODE custom + fi + + if param compare SYS_AUTOSTART 13 + then + set MIXER /etc/mixers/FMU_hex_+.mix + sh /etc/init.d/12-13_hex + set MODE custom + fi if param compare SYS_AUTOSTART 15 then @@ -248,13 +278,25 @@ then sh /etc/init.d/30_io_camflyer set MODE custom fi - + if param compare SYS_AUTOSTART 31 then sh /etc/init.d/31_io_phantom set MODE custom fi + + if param compare SYS_AUTOSTART 32 + then + sh /etc/init.d/32_skywalker_x5 + set MODE custom + fi + if param compare SYS_AUTOSTART 40 + then + sh /etc/init.d/40_io_segway + set MODE custom + fi + if param compare SYS_AUTOSTART 100 then sh /etc/init.d/100_mpx_easystar diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix index 75e82bb00..0ec663e35 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix @@ -62,3 +62,23 @@ range. Inputs below zero are treated as zero. M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 + + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix index 20cb88b91..c73cb2a62 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_AET.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix @@ -58,3 +58,23 @@ range. Inputs below zero are treated as zero. M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 + + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix index ebcb66b24..17ff71151 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_Q.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix @@ -50,3 +50,21 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix index 95beb8927..f07c34ac8 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_RET.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix @@ -51,3 +51,23 @@ range. Inputs below zero are treated as zero. M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 + + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix index 9f81e1dc3..610868354 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix @@ -48,3 +48,22 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix index 981466704..f0aa6650d 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_delta.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix @@ -48,3 +48,23 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix index b5e38ce9e..f8f9f0e4d 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix @@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co are mixed 100%. R: 6+ 10000 10000 10000 0 + +Gimbal / payload mixer for last two channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix index 8e8d122ad..26b40b9e9 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix @@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration. All c are mixed 100%. R: 6x 10000 10000 10000 0 + +Gimbal / payload mixer for last two channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix index dfdf1d58e..cd9a9cfab 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix @@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con are mixed 100%. R: 4+ 10000 10000 10000 0 + + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix index 2a4a0f341..520aba635 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix @@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration. All co are mixed 100%. R: 4v 10000 10000 10000 0 + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix index 81b4af30b..58e6af74b 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix @@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%. R: 4w 10000 10000 10000 0 + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix index 12a3bee20..fa21c8012 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix @@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration. All co are mixed 100%. R: 4x 10000 10000 10000 0 + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 |