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/mixers/CCPM.main.mix | 53 ++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 ROMFS/px4fmu_common/mixers/CCPM.main.mix (limited to 'ROMFS/px4fmu_common/mixers/CCPM.main.mix') 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 -- cgit v1.2.3