From 08062e6546f02cb2e819f690d35b485425788cc4 Mon Sep 17 00:00:00 2001 From: Anton Matosov Date: Wed, 7 Jan 2015 00:25:06 +0200 Subject: Changed naming of the mixers to get rid of umbiguity as outputs are actually going to be driven by io, not fmu Implemented automatic lookup for the .aux.mix file if it exists --- ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil | 2 +- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 2 +- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 2 +- ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | 2 +- ROMFS/px4fmu_common/init.d/10018_tbs_endurance | 2 +- ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil | 2 +- ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil | 2 +- .../px4fmu_common/init.d/1004_rc_fw_Rascal110.hil | 2 +- ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil | 2 +- ROMFS/px4fmu_common/init.d/11001_hexa_cox | 2 +- ROMFS/px4fmu_common/init.d/12001_octo_cox | 2 +- ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol | 2 +- ROMFS/px4fmu_common/init.d/13002_firefly6 | 3 +- ROMFS/px4fmu_common/init.d/2101_hk_bixler | 2 +- ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 | 2 +- ROMFS/px4fmu_common/init.d/3030_io_camflyer | 2 +- ROMFS/px4fmu_common/init.d/3032_skywalker_x5 | 2 +- ROMFS/px4fmu_common/init.d/3034_fx79 | 2 +- ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha | 2 +- ROMFS/px4fmu_common/init.d/4001_quad_x | 2 +- ROMFS/px4fmu_common/init.d/5001_quad_+ | 2 +- ROMFS/px4fmu_common/init.d/6001_hexa_x | 2 +- ROMFS/px4fmu_common/init.d/7001_hexa_+ | 2 +- ROMFS/px4fmu_common/init.d/8001_octo_x | 2 +- ROMFS/px4fmu_common/init.d/9001_octo_+ | 2 +- ROMFS/px4fmu_common/init.d/rc.interface | 58 +++++++++++---- ROMFS/px4fmu_common/init.d/rcS | 20 ++--- ROMFS/px4fmu_common/mixers/AERT.main.mix | 85 ++++++++++++++++++++++ ROMFS/px4fmu_common/mixers/AET.main.mix | 80 ++++++++++++++++++++ ROMFS/px4fmu_common/mixers/CCPM.main.mix | 53 ++++++++++++++ ROMFS/px4fmu_common/mixers/FMU_AERT.mix | 85 ---------------------- ROMFS/px4fmu_common/mixers/FMU_AET.mix | 80 -------------------- ROMFS/px4fmu_common/mixers/FMU_CCPM.mix | 53 -------------- ROMFS/px4fmu_common/mixers/FMU_FX79.mix | 69 ------------------ ROMFS/px4fmu_common/mixers/FMU_Q.mix | 70 ------------------ ROMFS/px4fmu_common/mixers/FMU_RET.mix | 73 ------------------- ROMFS/px4fmu_common/mixers/FMU_X5.mix | 68 ----------------- ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix | 16 ---- ROMFS/px4fmu_common/mixers/FMU_delta.mix | 70 ------------------ .../px4fmu_common/mixers/FMU_firefly6_elevons.mix | 10 --- ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix | 4 - ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix | 3 - ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix | 3 - ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix | 3 - ROMFS/px4fmu_common/mixers/FMU_octo_+.mix | 3 - ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix | 3 - ROMFS/px4fmu_common/mixers/FMU_octo_x.mix | 3 - ROMFS/px4fmu_common/mixers/FMU_quad_+.mix | 27 ------- ROMFS/px4fmu_common/mixers/FMU_quad_v.mix | 26 ------- ROMFS/px4fmu_common/mixers/FMU_quad_w.mix | 25 ------- ROMFS/px4fmu_common/mixers/FMU_quad_x.mix | 26 ------- ROMFS/px4fmu_common/mixers/FX79.main.mix | 69 ++++++++++++++++++ ROMFS/px4fmu_common/mixers/Q.main.mix | 70 ++++++++++++++++++ ROMFS/px4fmu_common/mixers/RET.main.mix | 73 +++++++++++++++++++ ROMFS/px4fmu_common/mixers/Viper.main.mix | 71 ++++++++++++++++++ ROMFS/px4fmu_common/mixers/Viper.mix | 71 ------------------ ROMFS/px4fmu_common/mixers/X5.main.mix | 68 +++++++++++++++++ .../px4fmu_common/mixers/caipirinha_vtol.main.mix | 16 ++++ ROMFS/px4fmu_common/mixers/delta.main.mix | 70 ++++++++++++++++++ ROMFS/px4fmu_common/mixers/easystar.main.mix | 31 ++++++++ ROMFS/px4fmu_common/mixers/easystar.mix | 31 -------- ROMFS/px4fmu_common/mixers/firefly6.aux.mix | 10 +++ ROMFS/px4fmu_common/mixers/firefly6.main.mix | 4 + ROMFS/px4fmu_common/mixers/hexa_+.main.mix | 3 + ROMFS/px4fmu_common/mixers/hexa_cox.main.mix | 3 + ROMFS/px4fmu_common/mixers/hexa_x.main.mix | 3 + ROMFS/px4fmu_common/mixers/octo_+.main.mix | 3 + ROMFS/px4fmu_common/mixers/octo_cox.main.mix | 3 + ROMFS/px4fmu_common/mixers/octo_x.main.mix | 3 + ROMFS/px4fmu_common/mixers/phantom.main.mix | 67 +++++++++++++++++ ROMFS/px4fmu_common/mixers/phantom.mix | 67 ----------------- ROMFS/px4fmu_common/mixers/quad_+.main.mix | 27 +++++++ ROMFS/px4fmu_common/mixers/quad_v.main.mix | 26 +++++++ ROMFS/px4fmu_common/mixers/quad_w.main.mix | 25 +++++++ ROMFS/px4fmu_common/mixers/quad_x.main.mix | 26 +++++++ ROMFS/px4fmu_common/mixers/skywalker.main.mix | 64 ++++++++++++++++ ROMFS/px4fmu_common/mixers/skywalker.mix | 64 ---------------- ROMFS/px4fmu_common/mixers/wingwing.main.mix | 51 +++++++++++++ ROMFS/px4fmu_common/mixers/wingwing.mix | 51 ------------- src/systemcmds/tests/test_mixer.cpp | 2 +- unittests/conversion_test.cpp | 2 +- unittests/mixer_test.cpp | 2 +- 82 files changed, 1085 insertions(+), 1058 deletions(-) create mode 100644 ROMFS/px4fmu_common/mixers/AERT.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/AET.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/CCPM.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_AERT.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_AET.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_CCPM.mix delete mode 100755 ROMFS/px4fmu_common/mixers/FMU_FX79.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_Q.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_RET.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_X5.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_delta.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_firefly6_elevons.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_octo_+.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_octo_x.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_+.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_v.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_w.mix delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_x.mix create mode 100755 ROMFS/px4fmu_common/mixers/FX79.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/Q.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/RET.main.mix create mode 100755 ROMFS/px4fmu_common/mixers/Viper.main.mix delete mode 100755 ROMFS/px4fmu_common/mixers/Viper.mix create mode 100644 ROMFS/px4fmu_common/mixers/X5.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/delta.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/easystar.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/easystar.mix create mode 100644 ROMFS/px4fmu_common/mixers/firefly6.aux.mix create mode 100644 ROMFS/px4fmu_common/mixers/firefly6.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/hexa_+.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/hexa_cox.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/hexa_x.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/octo_+.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/octo_cox.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/octo_x.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/phantom.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/phantom.mix create mode 100644 ROMFS/px4fmu_common/mixers/quad_+.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/quad_v.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/quad_w.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/quad_x.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/skywalker.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/skywalker.mix create mode 100644 ROMFS/px4fmu_common/mixers/wingwing.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/wingwing.mix diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 4d6d350b8..40b9ed8df 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -7,4 +7,4 @@ sh /etc/init.d/rc.fw_defaults set HIL yes -set MIXER FMU_AERT +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c1b366de8..2c7c0d68e 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -24,7 +24,7 @@ then param set MC_YAWRATE_D 0.0 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_OUT 1234 set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 3879737a8..caa8e28fc 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -27,7 +27,7 @@ then param set BAT_C_SCALING 0.0124 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index 57f77754c..5e41d6957 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -26,7 +26,7 @@ then param set BAT_N_CELLS 4 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_MIN 1210 set PWM_MAX 2100 diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance index 668026c61..eeb9b48b2 100644 --- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -25,7 +25,7 @@ then param set MC_YAWRATE_D 0.0 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_OUTPUTS 1234 set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 1c4f6803b..03b6b30d2 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_x +set MIXER quad_x set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index 0cbdd75be..2b418dfc5 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_+ +set MIXER quad_+ set HIL yes \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index fb440d2fc..090920847 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults set HIL yes -set MIXER FMU_AERT +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index f208b692a..15e5cf21d 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -35,4 +35,4 @@ fi set HIL yes # Set the AERT mixer for HIL (even if the malolo is a flying wing) -set MIXER FMU_AERT +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index 50f717e3d..0bb8cb52e 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_hexa_cox +set MIXER hexa_cox # Need to set all 8 channels set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index e0a838185..16e86fd5f 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_cox +set MIXER octo_cox set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index 7e9a6d3dc..87b98a02b 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -7,7 +7,7 @@ sh /etc/init.d/rc.vtol_defaults -set MIXER FMU_caipirinha_vtol +set MIXER caipirinha_vtol set PWM_OUT 12 set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6 index d5a104b4c..551a19928 100644 --- a/ROMFS/px4fmu_common/init.d/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/13002_firefly6 @@ -7,8 +7,7 @@ sh /etc/init.d/rc.vtol_defaults -set MIXER FMU_firefly6_rotors -set MIXER_SEC FMU_firefly6_elevons +set MIXER firefly6 set PWM_OUT 12345678 param set VT_MOT_COUNT 6 diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler index dcc5db824..0e6d2481c 100644 --- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler +++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler @@ -2,4 +2,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_AERT \ No newline at end of file +set MIXER AERT \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 index 9bc0262d8..2433ab4f4 100644 --- a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 +++ b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 @@ -2,4 +2,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_AET +set MIXER AET diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index fe0269557..188678324 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -2,7 +2,7 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_Q +set MIXER Q # Provide ESC a constant 1000 us pulse while disarmed set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 94363bf6a..3d464a4ae 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -28,4 +28,4 @@ then param set FW_R_RMAX 0 fi -set MIXER FMU_X5 +set MIXER X5 diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index 4a76ba6eb..d46147ede 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -7,4 +7,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_FX79 +set MIXER FX79 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9eafac1c5..9e1c1c170 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -31,4 +31,4 @@ then param set FW_R_RMAX 0 fi -set MIXER FMU_Q +set MIXER Q diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 4677f9fc3..e0538160f 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_x +set MIXER quad_x set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index c78911391..e51f9cf89 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_+ +set MIXER quad_+ set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 0df25b11a..7a6dda648 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_hexa_x +set MIXER hexa_x # Need to set all 8 channels set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 16c772ee1..dd9589d61 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_hexa_+ +set MIXER hexa_+ # Need to set all 8 channels set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index bae36737f..7cbb3ddfc 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_x +set MIXER octo_x set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index ca5439f68..5d608d593 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_+ +set MIXER octo_+ set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 98f41b31e..d4880ea42 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -3,19 +3,30 @@ # Script to configure control interface # +set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers + if [ $MIXER != none -a $MIXER != skip ] then # - # Load mixer + # Load main mixer # + + if [ $MIXER_AUX == none ] + then + MIXER_AUX = $MIXER.aux + fi # Use the mixer file from the SD-card if it exists - if [ -f /fs/microsd/etc/mixers/$MIXER.mix ] + if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ] then - set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix - else - set MIXER_FILE /etc/mixers/$MIXER.mix - fi + set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix + # Try out the old convention, for backward compatibility + elif [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ] + then + set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix + else + set MIXER_FILE /etc/mixers/$MIXER.main.mix + fi if [ $OUTPUT_MODE == mkblctrl ] then @@ -80,14 +91,31 @@ then pwm failsafe -d $OUTPUT_DEV $FAILSAFE fi fi - + # check if should load secondary mixer -if [ $MIXER_SEC != none ] +if [ $MIXER_AUX != none ] then - if fmu mode_pwm - then - mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix - else - tone_alarm $TUNE_ERR - fi -fi + # + # Load aux mixer + # + + set MIXER_AUX_FILE none + + if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ] + then + set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix + elif [ -f /etc/mixers/$MIXER_AUX.mix ] + then + set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix + fi + + if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ] + then + if fmu mode_pwm + then + mixer load /dev/pwm_output1 $MIXER_AUX_FILE + else + tone_alarm $TUNE_ERR + fi + fi +fi \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 924f6ebc0..31d6a8a2d 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -116,7 +116,7 @@ then set HIL no set VEHICLE_TYPE none set MIXER none - set MIXER_SEC none + set MIXER_AUX none set OUTPUT_MODE none set PWM_OUT none set PWM_RATE none @@ -482,7 +482,7 @@ then if [ $MIXER == none ] then # Set default mixer for fixed wing if not defined - set MIXER FMU_AERT + set MIXER AERT fi if [ $MAV_TYPE == none ] @@ -518,27 +518,27 @@ then if [ $MAV_TYPE == none ] then # Use mixer to detect vehicle type - if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ] + if [ $MIXER == quad_x -o $MIXER == quad_+ ] then set MAV_TYPE 2 fi - if [ $MIXER == FMU_quad_w ] + if [ $MIXER == quad_w ] then set MAV_TYPE 2 fi - if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ] + if [ $MIXER == hexa_x -o $MIXER == hexa_+ ] then set MAV_TYPE 13 fi - if [ $MIXER == FMU_hexa_cox ] + if [ $MIXER == hexa_cox ] then set MAV_TYPE 13 fi - if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] + if [ $MIXER == octo_x -o $MIXER == octo_+ ] then set MAV_TYPE 14 fi - if [ $MIXER == FMU_octo_cox ] + if [ $MIXER == octo_cox ] then set MAV_TYPE 14 fi @@ -577,11 +577,11 @@ then if [ $MAV_TYPE == none ] then # Use mixer to detect vehicle type - if [ $MIXER == FMU_caipirinha_vtol ] + if [ $MIXER == caipirinha_vtol ] then set MAV_TYPE 19 fi - if [ $MIXER == FMU_firefly6_rotors ] + if [ $MIXER == firefly6_rotors ] then set MAV_TYPE 21 fi diff --git a/ROMFS/px4fmu_common/mixers/AERT.main.mix b/ROMFS/px4fmu_common/mixers/AERT.main.mix new file mode 100644 index 000000000..7fed488af --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/AERT.main.mix @@ -0,0 +1,85 @@ +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 + + +Gimbal / flaps / payload mixer for last four channels, +using the payload control group +----------------------------------------------------- + +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 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 3 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/AET.main.mix b/ROMFS/px4fmu_common/mixers/AET.main.mix new file mode 100644 index 000000000..c73cb2a62 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/AET.main.mix @@ -0,0 +1,80 @@ +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 + + +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/CCPM.main.mix b/ROMFS/px4fmu_common/mixers/CCPM.main.mix new file mode 100644 index 000000000..1c45b3e59 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/CCPM.main.mix @@ -0,0 +1,53 @@ +Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU +================================================== + + +Output 0 - Rear Servo Mixer +---------------- + +Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1) + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + + +Output 1 - Left Servo Mixer +----------------- +Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0) + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 8660 8660 0 -10000 10000 + + +Output 2 - Right Servo Mixer +---------------- +Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0) + + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 -8660 -8660 0 -10000 10000 + +Output 3 - Tail Servo Mixer +---------------- +Tail Servo = Yaw (control index = 2) + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + + +Output 4 - Motor speed mixer +----------------- +This would be the motor speed control output from governor power demand- not sure what index to use here? + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix deleted file mode 100644 index 7fed488af..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix +++ /dev/null @@ -1,85 +0,0 @@ -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 - - -Gimbal / flaps / payload mixer for last four channels, -using the payload control group ------------------------------------------------------ - -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 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 2 3 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix deleted file mode 100644 index c73cb2a62..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_AET.mix +++ /dev/null @@ -1,80 +0,0 @@ -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 - - -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_CCPM.mix b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix deleted file mode 100644 index 1c45b3e59..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix +++ /dev/null @@ -1,53 +0,0 @@ -Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU -================================================== - - -Output 0 - Rear Servo Mixer ----------------- - -Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1) - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - - -Output 1 - Left Servo Mixer ------------------ -Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0) - -M: 3 -O: 10000 10000 0 -10000 10000 -S: 0 3 -10000 -10000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 -S: 0 0 8660 8660 0 -10000 10000 - - -Output 2 - Right Servo Mixer ----------------- -Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0) - - -M: 3 -O: 10000 10000 0 -10000 10000 -S: 0 3 -10000 -10000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 -S: 0 0 -8660 -8660 0 -10000 10000 - -Output 3 - Tail Servo Mixer ----------------- -Tail Servo = Yaw (control index = 2) - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - - -Output 4 - Motor speed mixer ------------------ -This would be the motor speed control output from governor power demand- not sure what index to use here? - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 4 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix deleted file mode 100755 index b8879af9e..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix +++ /dev/null @@ -1,69 +0,0 @@ -FX-79 Delta-wing mixer for PX4FMU -================================= - -Designed for FX-79. - -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 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix deleted file mode 100644 index b8ecbc879..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_Q.mix +++ /dev/null @@ -1,70 +0,0 @@ -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 -8000 -8000 0 -10000 10000 -S: 0 1 6000 6000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -8000 -8000 0 -10000 10000 -S: 0 1 -6000 -6000 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 diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix deleted file mode 100644 index f07c34ac8..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_RET.mix +++ /dev/null @@ -1,73 +0,0 @@ -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 - - -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 deleted file mode 100644 index 80e3bac09..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix +++ /dev/null @@ -1,68 +0,0 @@ -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 -8000 -8000 0 -10000 10000 -S: 0 1 6000 6000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -8000 -8000 0 -10000 10000 -S: 0 1 -6000 -6000 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 diff --git a/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix b/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix deleted file mode 100644 index 5ae0f5588..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix +++ /dev/null @@ -1,16 +0,0 @@ -#!nsh -# Caipirinha vtol mixer for PX4FMU -# -#=========================== -R: 2- 10000 10000 10000 0 - -#mixer for the elevons -M: 2 -O: 10000 10000 0 -10000 10000 -S: 1 0 10000 10000 0 -10000 10000 -S: 1 1 10000 10000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 1 0 10000 10000 0 -10000 10000 -S: 1 1 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix deleted file mode 100644 index f0aa6650d..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_delta.mix +++ /dev/null @@ -1,70 +0,0 @@ -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 - - -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_firefly6_elevons.mix b/ROMFS/px4fmu_common/mixers/FMU_firefly6_elevons.mix deleted file mode 100644 index 9ed6eeed9..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_firefly6_elevons.mix +++ /dev/null @@ -1,10 +0,0 @@ -# mixer for the FireFly6 elevons -M: 2 -O: 10000 10000 0 -10000 10000 -S: 1 0 7500 7500 0 -10000 10000 -S: 1 1 8000 8000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 1 0 7500 7500 0 -10000 10000 -S: 1 1 -8000 -8000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix b/ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix deleted file mode 100644 index 3e1d9d7a3..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix +++ /dev/null @@ -1,4 +0,0 @@ -# FireFly6 mixer for PX4FMU -# -#=========================== -R: 6c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix deleted file mode 100644 index e608b459f..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix +++ /dev/null @@ -1,3 +0,0 @@ -# Hexa + - -R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix deleted file mode 100644 index 497786feb..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix +++ /dev/null @@ -1,3 +0,0 @@ -# Hexa coaxial - -R: 6c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix deleted file mode 100644 index 16e6e22f9..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix +++ /dev/null @@ -1,3 +0,0 @@ -# Hexa X - -R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix deleted file mode 100644 index 397e22086..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix +++ /dev/null @@ -1,3 +0,0 @@ -# Octo + - -R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix deleted file mode 100644 index f7845450d..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix +++ /dev/null @@ -1,3 +0,0 @@ -# Octo coaxial - -R: 8c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix deleted file mode 100644 index c9a348aa4..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix +++ /dev/null @@ -1,3 +0,0 @@ -# Octo X - -R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix deleted file mode 100644 index cd9a9cfab..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix +++ /dev/null @@ -1,27 +0,0 @@ -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 - - -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 deleted file mode 100644 index 520aba635..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix +++ /dev/null @@ -1,26 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the V configuration. All controls -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 deleted file mode 100644 index 58e6af74b..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix +++ /dev/null @@ -1,25 +0,0 @@ -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 deleted file mode 100644 index fa21c8012..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix +++ /dev/null @@ -1,26 +0,0 @@ -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 - -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/FX79.main.mix b/ROMFS/px4fmu_common/mixers/FX79.main.mix new file mode 100755 index 000000000..b8879af9e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FX79.main.mix @@ -0,0 +1,69 @@ +FX-79 Delta-wing mixer for PX4FMU +================================= + +Designed for FX-79. + +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 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/Q.main.mix b/ROMFS/px4fmu_common/mixers/Q.main.mix new file mode 100644 index 000000000..b8ecbc879 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/Q.main.mix @@ -0,0 +1,70 @@ +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 -8000 -8000 0 -10000 10000 +S: 0 1 6000 6000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -8000 0 -10000 10000 +S: 0 1 -6000 -6000 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 diff --git a/ROMFS/px4fmu_common/mixers/RET.main.mix b/ROMFS/px4fmu_common/mixers/RET.main.mix new file mode 100644 index 000000000..f07c34ac8 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/RET.main.mix @@ -0,0 +1,73 @@ +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 + + +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/Viper.main.mix b/ROMFS/px4fmu_common/mixers/Viper.main.mix new file mode 100755 index 000000000..5aa3828f2 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/Viper.main.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 + + diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix deleted file mode 100755 index 5aa3828f2..000000000 --- a/ROMFS/px4fmu_common/mixers/Viper.mix +++ /dev/null @@ -1,71 +0,0 @@ -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 - - diff --git a/ROMFS/px4fmu_common/mixers/X5.main.mix b/ROMFS/px4fmu_common/mixers/X5.main.mix new file mode 100644 index 000000000..80e3bac09 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/X5.main.mix @@ -0,0 +1,68 @@ +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 -8000 -8000 0 -10000 10000 +S: 0 1 6000 6000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -8000 0 -10000 10000 +S: 0 1 -6000 -6000 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 diff --git a/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix new file mode 100644 index 000000000..5ae0f5588 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix @@ -0,0 +1,16 @@ +#!nsh +# Caipirinha vtol mixer for PX4FMU +# +#=========================== +R: 2- 10000 10000 10000 0 + +#mixer for the elevons +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 1 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 1 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/delta.main.mix b/ROMFS/px4fmu_common/mixers/delta.main.mix new file mode 100644 index 000000000..f0aa6650d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/delta.main.mix @@ -0,0 +1,70 @@ +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 + + +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/easystar.main.mix b/ROMFS/px4fmu_common/mixers/easystar.main.mix new file mode 100644 index 000000000..0051ffdbb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/easystar.main.mix @@ -0,0 +1,31 @@ +EASYSTAR / EASYSTAR II MIXER +============================ + +Aileron mixer +------------- +One output - would be easy to add support for 2 servos + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 + +Motor speed mixer +----------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix deleted file mode 100644 index 0051ffdbb..000000000 --- a/ROMFS/px4fmu_common/mixers/easystar.mix +++ /dev/null @@ -1,31 +0,0 @@ -EASYSTAR / EASYSTAR II MIXER -============================ - -Aileron mixer -------------- -One output - would be easy to add support for 2 servos - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Rudder mixer ------------- - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 -10000 -10000 0 -10000 10000 - -Motor speed mixer ------------------ - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix new file mode 100644 index 000000000..9ed6eeed9 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix @@ -0,0 +1,10 @@ +# mixer for the FireFly6 elevons +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 +S: 1 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 +S: 1 1 -8000 -8000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/firefly6.main.mix b/ROMFS/px4fmu_common/mixers/firefly6.main.mix new file mode 100644 index 000000000..3e1d9d7a3 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/firefly6.main.mix @@ -0,0 +1,4 @@ +# FireFly6 mixer for PX4FMU +# +#=========================== +R: 6c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/hexa_+.main.mix b/ROMFS/px4fmu_common/mixers/hexa_+.main.mix new file mode 100644 index 000000000..e608b459f --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/hexa_+.main.mix @@ -0,0 +1,3 @@ +# Hexa + + +R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix b/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix new file mode 100644 index 000000000..497786feb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix @@ -0,0 +1,3 @@ +# Hexa coaxial + +R: 6c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix new file mode 100644 index 000000000..16e6e22f9 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix @@ -0,0 +1,3 @@ +# Hexa X + +R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/octo_+.main.mix b/ROMFS/px4fmu_common/mixers/octo_+.main.mix new file mode 100644 index 000000000..397e22086 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/octo_+.main.mix @@ -0,0 +1,3 @@ +# Octo + + +R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/octo_cox.main.mix b/ROMFS/px4fmu_common/mixers/octo_cox.main.mix new file mode 100644 index 000000000..f7845450d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/octo_cox.main.mix @@ -0,0 +1,3 @@ +# Octo coaxial + +R: 8c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/octo_x.main.mix b/ROMFS/px4fmu_common/mixers/octo_x.main.mix new file mode 100644 index 000000000..c9a348aa4 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/octo_x.main.mix @@ -0,0 +1,3 @@ +# Octo X + +R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/phantom.main.mix b/ROMFS/px4fmu_common/mixers/phantom.main.mix new file mode 100644 index 000000000..00c37a16c --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/phantom.main.mix @@ -0,0 +1,67 @@ +Phantom FX-61 mixer +=================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4/Pixhawk. The configuration assumes the elevon servos are connected to +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 are set so that pitch will have more travel than roll. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -6000 -6000 0 -10000 10000 +S: 0 1 6500 6500 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -6000 -6000 0 -10000 10000 +S: 0 1 -6500 -6500 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 diff --git a/ROMFS/px4fmu_common/mixers/phantom.mix b/ROMFS/px4fmu_common/mixers/phantom.mix deleted file mode 100644 index 00c37a16c..000000000 --- a/ROMFS/px4fmu_common/mixers/phantom.mix +++ /dev/null @@ -1,67 +0,0 @@ -Phantom FX-61 mixer -=================== - -This file defines mixers suitable for controlling a delta wing aircraft using -PX4/Pixhawk. The configuration assumes the elevon servos are connected to -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 are set so that pitch will have more travel than roll. - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 6500 6500 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 -6500 -6500 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 diff --git a/ROMFS/px4fmu_common/mixers/quad_+.main.mix b/ROMFS/px4fmu_common/mixers/quad_+.main.mix new file mode 100644 index 000000000..cd9a9cfab --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/quad_+.main.mix @@ -0,0 +1,27 @@ +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 + + +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/quad_v.main.mix b/ROMFS/px4fmu_common/mixers/quad_v.main.mix new file mode 100644 index 000000000..520aba635 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/quad_v.main.mix @@ -0,0 +1,26 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the V configuration. All controls +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/quad_w.main.mix b/ROMFS/px4fmu_common/mixers/quad_w.main.mix new file mode 100644 index 000000000..58e6af74b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/quad_w.main.mix @@ -0,0 +1,25 @@ +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/quad_x.main.mix b/ROMFS/px4fmu_common/mixers/quad_x.main.mix new file mode 100644 index 000000000..fa21c8012 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/quad_x.main.mix @@ -0,0 +1,26 @@ +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 + +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/skywalker.main.mix b/ROMFS/px4fmu_common/mixers/skywalker.main.mix new file mode 100644 index 000000000..04d677e56 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/skywalker.main.mix @@ -0,0 +1,64 @@ +Mixer for Skywalker Airframe +================================================== + +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/skywalker.mix b/ROMFS/px4fmu_common/mixers/skywalker.mix deleted file mode 100644 index 04d677e56..000000000 --- a/ROMFS/px4fmu_common/mixers/skywalker.mix +++ /dev/null @@ -1,64 +0,0 @@ -Mixer for Skywalker Airframe -================================================== - -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/wingwing.main.mix b/ROMFS/px4fmu_common/mixers/wingwing.main.mix new file mode 100644 index 000000000..08333ba5c --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/wingwing.main.mix @@ -0,0 +1,51 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Wing Wing Z-84 + +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 -6000 -6000 0 -10000 10000 +S: 0 1 6500 6500 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -6000 -6000 0 -10000 10000 +S: 0 1 -6500 -6500 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/wingwing.mix b/ROMFS/px4fmu_common/mixers/wingwing.mix deleted file mode 100644 index 08333ba5c..000000000 --- a/ROMFS/px4fmu_common/mixers/wingwing.mix +++ /dev/null @@ -1,51 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -Designed for Wing Wing Z-84 - -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 -6000 -6000 0 -10000 10000 -S: 0 1 6500 6500 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 -6500 -6500 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/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp index 8ab8fa2d6..2896a8e40 100644 --- a/src/systemcmds/tests/test_mixer.cpp +++ b/src/systemcmds/tests/test_mixer.cpp @@ -343,7 +343,7 @@ int test_mixer(int argc, char *argv[]) if (argc > 2) filename = argv[2]; else - filename = "/etc/mixers/FMU_quad_w.mix"; + filename = "/etc/mixers/quad_w.main.mix"; load_mixer_file(filename, &buf[0], sizeof(buf)); loaded = strlen(buf); diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp index 99e1c7721..12d2213e2 100644 --- a/unittests/conversion_test.cpp +++ b/unittests/conversion_test.cpp @@ -4,6 +4,6 @@ #include "gtest/gtest.h" -TEST(ConversionTest, FMU_quad_w) { +TEST(ConversionTest, quad_w_main) { ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed"; } diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp index fd3ece7f8..1271dab5e 100644 --- a/unittests/mixer_test.cpp +++ b/unittests/mixer_test.cpp @@ -6,6 +6,6 @@ TEST(MixerTest, Mixer) { - char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; + char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_w.main.mix"}; ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed"; } -- cgit v1.2.3