mirror of https://github.com/ArduPilot/ardupilot
PX4: added in remaining example mixers
This commit is contained in:
Andrew Tridgell
parent
947297f0cd
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9b752f5d2a
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Aileron/rudder/elevator/throttle mixer for PX4FMU
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==================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
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assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
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elevator to output 1, the rudder to output 2 and the throttle to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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Aileron mixer
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-------------
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Two scalers total (output, roll).
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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As there is only one output, if using two servos adjustments to compensate for
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differences between the servos must be made mechanically. To obtain the correct
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motion using a Y cable, the servos can be positioned reversed from one another.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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Rudder mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Aileron/elevator/throttle mixer for PX4FMU
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==================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, elevator and throttle controls using PX4FMU. The configuration assumes
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the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
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output 1 and the throttle to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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Aileron mixer
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-------------
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Two scalers total (output, roll).
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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As there is only one output, if using two servos adjustments to compensate for
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differences between the servos must be made mechanically. To obtain the correct
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motion using a Y cable, the servos can be positioned reversed from one another.
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Alternatively, output 2 could be used as a second aileron servo output with
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separate mixing.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Delta-wing mixer for PX4FMU
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===========================
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Designed for Bormatec Camflyer Q
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This file defines mixers suitable for controlling a delta wing aircraft using
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PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
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servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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See the README for more information on the scaler format.
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Elevon mixers
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-------------
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Three scalers total (output, roll, pitch).
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On the assumption that the two elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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The scaling factor for roll inputs is adjusted to implement differential travel
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for the elevons.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -5000 -8000 0 -10000 10000
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S: 0 1 8000 8000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -8000 -5000 0 -10000 10000
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S: 0 1 -8000 -8000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Rudder/elevator/throttle mixer for PX4FMU
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=========================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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rudder, elevator and throttle controls using PX4FMU. The configuration assumes
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the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
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and the throttle to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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Rudder mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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@ -0,0 +1,50 @@
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Delta-wing mixer for PX4FMU
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===========================
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This file defines mixers suitable for controlling a delta wing aircraft using
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PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
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servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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See the README for more information on the scaler format.
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Elevon mixers
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-------------
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Three scalers total (output, roll, pitch).
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On the assumption that the two elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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The scaling factor for roll inputs is adjusted to implement differential travel
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for the elevons.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -3000 -5000 0 -10000 10000
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S: 0 1 -5000 -5000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -5000 -3000 0 -10000 10000
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S: 0 1 5000 5000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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@ -0,0 +1,50 @@
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Delta-wing mixer for PX4FMU
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===========================
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This file defines mixers suitable for controlling a delta wing aircraft using
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PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
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servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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See the README for more information on the scaler format.
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Elevon mixers
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-------------
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Three scalers total (output, roll, pitch).
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On the assumption that the two elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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The scaling factor for roll inputs is adjusted to implement differential travel
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for the elevons.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 3000 5000 0 -10000 10000
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S: 0 1 5000 5000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 5000 3000 0 -10000 10000
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S: 0 1 -5000 -5000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a hexacopter in the + configuration. All controls
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are mixed 100%.
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R: 6+ 10000 10000 10000 0
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@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a hexacopter in the X configuration. All controls
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are mixed 100%.
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R: 6x 10000 10000 10000 0
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@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a octocopter in the + configuration. All controls
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are mixed 100%.
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R: 8+ 10000 10000 10000 0
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@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a octocopter in the X configuration. All controls
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are mixed 100%.
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R: 8x 10000 10000 10000 0
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@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a quadrotor in the + configuration. All controls
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are mixed 100%.
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R: 4+ 10000 10000 10000 0
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@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a quadrotor in the V configuration. All controls
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are mixed 100%.
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R: 4v 10000 10000 10000 0
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@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a quadrotor in the X configuration. All controls
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are mixed 100%.
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R: 4x 10000 10000 10000 0
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