From a3210f31fe431b31b971f9d25d41a5c18734120c Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 11 Jul 2014 21:30:59 +0200 Subject: Create a mixer for the Wing Wing. --- ROMFS/px4fmu_common/init.d/3033_wingwing | 2 +- ROMFS/px4fmu_common/mixers/FMU_wingwing | 70 ++++++++++++++++++++++++++++++++ 2 files changed, 71 insertions(+), 1 deletion(-) create mode 100644 ROMFS/px4fmu_common/mixers/FMU_wingwing (limited to 'ROMFS') diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index fff4b58df..75163168e 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -32,7 +32,7 @@ then param set FW_THR_CRUISE 0.65 fi -set MIXER FMU_Q +set MIXER FMU_wingwing # Provide ESC a constant 1000 us pulse set PWM_OUTPUTS 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_wingwing b/ROMFS/px4fmu_common/mixers/FMU_wingwing new file mode 100644 index 000000000..806bfec73 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_wingwing @@ -0,0 +1,70 @@ +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 + +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 -- cgit v1.2.3 From e4264aad825540c159888b68fc2a0dec599b2e9b Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 11 Jul 2014 21:34:51 +0200 Subject: The wing wing is too small to have flaps, gimbals, etc. --- ROMFS/px4fmu_common/mixers/FMU_wingwing | 19 ------------------- 1 file changed, 19 deletions(-) (limited to 'ROMFS') diff --git a/ROMFS/px4fmu_common/mixers/FMU_wingwing b/ROMFS/px4fmu_common/mixers/FMU_wingwing index 806bfec73..08333ba5c 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_wingwing +++ b/ROMFS/px4fmu_common/mixers/FMU_wingwing @@ -49,22 +49,3 @@ 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 -- cgit v1.2.3 From f8115e4e2e2cc0ad55949016c7872125a6727fac Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Fri, 11 Jul 2014 21:51:35 +0200 Subject: Renamed mixer file. --- ROMFS/px4fmu_common/init.d/3033_wingwing | 2 +- ROMFS/px4fmu_common/mixers/FMU_wingwing | 51 -------------------------------- ROMFS/px4fmu_common/mixers/wingwing.mix | 51 ++++++++++++++++++++++++++++++++ 3 files changed, 52 insertions(+), 52 deletions(-) delete mode 100644 ROMFS/px4fmu_common/mixers/FMU_wingwing create mode 100644 ROMFS/px4fmu_common/mixers/wingwing.mix (limited to 'ROMFS') diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 75163168e..3cbbd555e 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -32,7 +32,7 @@ then param set FW_THR_CRUISE 0.65 fi -set MIXER FMU_wingwing +set MIXER wingwing # Provide ESC a constant 1000 us pulse set PWM_OUTPUTS 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_wingwing b/ROMFS/px4fmu_common/mixers/FMU_wingwing deleted file mode 100644 index 08333ba5c..000000000 --- a/ROMFS/px4fmu_common/mixers/FMU_wingwing +++ /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/ROMFS/px4fmu_common/mixers/wingwing.mix b/ROMFS/px4fmu_common/mixers/wingwing.mix new file mode 100644 index 000000000..08333ba5c --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/wingwing.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 -- cgit v1.2.3