From 5c30722e77feaa238ae4b685cc4fca98102282de Mon Sep 17 00:00:00 2001 From: px4dev Date: Sun, 5 Aug 2012 16:54:50 -0700 Subject: More example mixers; three different fixed-wing configurations for FMU. --- ROMFS/mixers/FMU_RET.mix | 53 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 ROMFS/mixers/FMU_RET.mix (limited to 'ROMFS/mixers/FMU_RET.mix') diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix new file mode 100644 index 000000000..e8762787b --- /dev/null +++ b/ROMFS/mixers/FMU_RET.mix @@ -0,0 +1,53 @@ +Rudder/elevator/throttle mixer for PX4FMU +========================================= + +This file defines mixers suirable 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: 2 +S: 0 0 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: 2 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +M: 0 + +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: 2 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 -- cgit v1.2.3