From 5f147f3a6f9c823d1835646739ecb49a5a64e34b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 4 Jan 2015 00:14:09 +0100 Subject: Mixer: Rename to .md and change syntax to markup --- ROMFS/px4fmu_common/mixers/README | 110 ----------------------------------- ROMFS/px4fmu_common/mixers/README.md | 105 +++++++++++++++++++++++++++++++++ 2 files changed, 105 insertions(+), 110 deletions(-) delete mode 100644 ROMFS/px4fmu_common/mixers/README create mode 100644 ROMFS/px4fmu_common/mixers/README.md (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README deleted file mode 100644 index f671a177c..000000000 --- a/ROMFS/px4fmu_common/mixers/README +++ /dev/null @@ -1,110 +0,0 @@ -PX4 mixer definitions -===================== - -Files in this directory implement example mixers that can be used as a basis -for customisation, or for general testing purposes. - -For a detailed description of the mixing architecture and examples see: -https://pixhawk.org/dev/mixing - -Syntax ------- - -Mixer definitions are text files; lines beginning with a single capital letter -followed by a colon are significant. All other lines are ignored, meaning that -explanatory text can be freely mixed with the definitions. - -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 - - : - -The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a -multirotor mixer, etc. - -Null Mixer -.......... - -A null mixer consumes no controls and generates a single actuator output whose -value is always zero. Typically a null mixer is used as a placeholder in a -collection of mixers in order to achieve a specific pattern of actuator outputs. - -The null mixer definition has the form: - - Z: - -Simple Mixer -............ - -A simple mixer combines zero or more control inputs into a single actuator -output. Inputs are scaled, and the mixing function sums the result before -applying an output scaler. - -A simple mixer definition begins with: - - M: - O: <-ve scale> <+ve scale> - -If is zero, the sum is effectively zero and the mixer will -output a fixed value that is constrained by and . - -The second line defines the output scaler with scaler parameters as discussed -above. Whilst the calculations are performed as floating-point operations, the -values stored in the definition file are scaled by a factor of 10000; i.e. an -offset of -0.5 is encoded as -5000. - -The definition continues with entries describing the control -inputs and their scaling, in the form: - - S: <-ve scale> <+ve scale> - -The value identifies the control group from which the scaler will read, -and the value an offset within that group. These values are specific to -the device reading the mixer definition. - -When used to mix vehicle controls, mixer group zero is the vehicle attitude -control group, and index values zero through three are normally roll, pitch, -yaw and thrust respectively. - -The remaining fields on the line configure the control scaler with parameters as -discussed above. Whilst the calculations are performed as floating-point -operations, the values stored in the definition file are scaled by a factor of -10000; i.e. an offset of -0.5 is encoded as -5000. - -Multirotor Mixer -................ - -The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) -into a set of actuator outputs intended to drive motor speed controllers. - -The mixer definition is a single line of the form: - -R: - -The supported geometries include: - - 4x - quadrotor in X configuration - 4+ - quadrotor in + configuration - 6x - hexcopter in X configuration - 6+ - hexcopter in + configuration - 8x - octocopter in X configuration - 8+ - octocopter in + configuration - -Each of the roll, pitch and yaw scale values determine scaling of the roll, -pitch and yaw controls relative to the thrust control. Whilst the calculations -are performed as floating-point operations, the values stored in the definition -file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. - -Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the -thrust input ranges from 0.0 to 1.0. Output for each actuator is in the -range -1.0 to 1.0. - -In the case where an actuator saturates, all actuator values are rescaled so that -the saturating actuator is limited to 1.0. \ No newline at end of file diff --git a/ROMFS/px4fmu_common/mixers/README.md b/ROMFS/px4fmu_common/mixers/README.md new file mode 100644 index 000000000..b766d05aa --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/README.md @@ -0,0 +1,105 @@ +## PX4 mixer definitions ## + +Files in this directory implement example mixers that can be used as a basis +for customisation, or for general testing purposes. + +For a detailed description of the mixing architecture and examples see: +http://px4.io/dev/mixing + +### Syntax ### + +Mixer definitions are text files; lines beginning with a single capital letter +followed by a colon are significant. All other lines are ignored, meaning that +explanatory text can be freely mixed with the definitions. + +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 + + : + +The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a +multirotor mixer, etc. + +#### Null Mixer #### + +A null mixer consumes no controls and generates a single actuator output whose +value is always zero. Typically a null mixer is used as a placeholder in a +collection of mixers in order to achieve a specific pattern of actuator outputs. + +The null mixer definition has the form: + + Z: + +#### Simple Mixer #### + +A simple mixer combines zero or more control inputs into a single actuator +output. Inputs are scaled, and the mixing function sums the result before +applying an output scaler. + +A simple mixer definition begins with: + + M: + O: <-ve scale> <+ve scale> + +If is zero, the sum is effectively zero and the mixer will +output a fixed value that is constrained by and . + +The second line defines the output scaler with scaler parameters as discussed +above. Whilst the calculations are performed as floating-point operations, the +values stored in the definition file are scaled by a factor of 10000; i.e. an +offset of -0.5 is encoded as -5000. + +The definition continues with entries describing the control +inputs and their scaling, in the form: + + S: <-ve scale> <+ve scale> + +The value identifies the control group from which the scaler will read, +and the value an offset within that group. These values are specific to +the device reading the mixer definition. + +When used to mix vehicle controls, mixer group zero is the vehicle attitude +control group, and index values zero through three are normally roll, pitch, +yaw and thrust respectively. + +The remaining fields on the line configure the control scaler with parameters as +discussed above. Whilst the calculations are performed as floating-point +operations, the values stored in the definition file are scaled by a factor of +10000; i.e. an offset of -0.5 is encoded as -5000. + +#### Multirotor Mixer #### + +The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) +into a set of actuator outputs intended to drive motor speed controllers. + +The mixer definition is a single line of the form: + +R: + +The supported geometries include: + + 4x - quadrotor in X configuration + 4+ - quadrotor in + configuration + 6x - hexcopter in X configuration + 6+ - hexcopter in + configuration + 8x - octocopter in X configuration + 8+ - octocopter in + configuration + +Each of the roll, pitch and yaw scale values determine scaling of the roll, +pitch and yaw controls relative to the thrust control. Whilst the calculations +are performed as floating-point operations, the values stored in the definition +file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. + +Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the +thrust input ranges from 0.0 to 1.0. Output for each actuator is in the +range -1.0 to 1.0. + +In the case where an actuator saturates, all actuator values are rescaled so that +the saturating actuator is limited to 1.0. \ No newline at end of file -- cgit v1.2.3