From e6210058a3527bc87a74781159631a1f59ad053d Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Sat, 9 Aug 2014 19:52:30 +0200
Subject: mixers: added Viper mixer

---
 ROMFS/px4fmu_common/init.d/3035_viper |  2 +-
 ROMFS/px4fmu_common/mixers/Viper.mix  | 72 +++++++++++++++++++++++++++++++++++
 2 files changed, 73 insertions(+), 1 deletion(-)
 create mode 100755 ROMFS/px4fmu_common/mixers/Viper.mix

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
index 9c8f8a585..a4c1e832d 100644
--- a/ROMFS/px4fmu_common/init.d/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -7,4 +7,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_FX79
\ No newline at end of file
+set MIXER Viper
diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix
new file mode 100755
index 000000000..79c4447be
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/Viper.mix
@@ -0,0 +1,72 @@
+Viper Delta-wing mixer
+=================================
+
+Designed for Viper.
+
+TODO (sjwilks): Add mixers for flaps.
+
+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   7500   7500      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   7500   7500      0 -10000  10000
+S: 0 1  -8000  -8000      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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