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Diffstat (limited to 'ROMFS/px4fmu_common')
-rw-r--r-- | ROMFS/px4fmu_common/mixers/README | 54 |
1 files changed, 5 insertions, 49 deletions
diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README index 60311232e..f671a177c 100644 --- a/ROMFS/px4fmu_common/mixers/README +++ b/ROMFS/px4fmu_common/mixers/README @@ -4,55 +4,8 @@ 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 +For a detailed description of the mixing architecture and examples see: +https://pixhawk.org/dev/mixing Syntax ------ @@ -65,6 +18,9 @@ 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. +For example: each simple or null mixer is assigned to outputs 1 to x +in the order they appear in the mixer file. + A mixer begins with a line of the form <tag>: <mixer arguments> |