From a3210f31fe431b31b971f9d25d41a5c18734120c Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
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
-- 
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