diff options
Diffstat (limited to 'ROMFS/px4fmu_common')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3035_viper | 10 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/mixers/FMU_FX79.mix | 4 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/mixers/Viper.mix | 72 |
4 files changed, 89 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper new file mode 100644 index 000000000..a4c1e832d --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3035_viper @@ -0,0 +1,10 @@ +#!nsh +# +# Viper +# +# Simon Wilks <sjwilks@gmail.com> +# + +sh /etc/init.d/rc.fw_defaults + +set MIXER Viper diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 17541e680..9de7d9ecd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -103,6 +103,11 @@ then sh /etc/init.d/3034_fx79 fi +if param compare SYS_AUTOSTART 3035 35 +then + sh /etc/init.d/3035_viper +fi + if param compare SYS_AUTOSTART 3100 then sh /etc/init.d/3100_tbs_caipirinha diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix index 0a1dca98d..112d9b891 100755 --- a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -27,12 +27,12 @@ for the elevons. M: 2 O: 10000 10000 0 -10000 10000 -S: 0 0 5000 8000 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 8000 5000 0 -10000 10000 +S: 0 0 7500 7500 0 -10000 10000 S: 0 1 -8000 -8000 0 -10000 10000 Output 2 diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix new file mode 100755 index 000000000..79c4447be --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/Viper.mix @@ -0,0 +1,72 @@ +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 + +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 |