diff --git a/mk/PX4/ROMFS/mixers/FMU_AERT.mix b/mk/PX4/ROMFS/mixers/FMU_AERT.mix deleted file mode 100644 index 75e82bb00a..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_AERT.mix +++ /dev/null @@ -1,64 +0,0 @@ -Aileron/rudder/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, rudder, elevator and throttle controls using PX4FMU. The configuration -assumes the aileron servo(s) are connected to PX4FMU servo output 0, the -elevator to output 1, the rudder to output 2 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Rudder mixer ------------- -Two scalers total (output, yaw). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -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/mk/PX4/ROMFS/mixers/FMU_AET.mix b/mk/PX4/ROMFS/mixers/FMU_AET.mix deleted file mode 100644 index 20cb88b916..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_AET.mix +++ /dev/null @@ -1,60 +0,0 @@ -Aileron/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, elevator and throttle controls using PX4FMU. The configuration assumes -the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to -output 1 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -Alternatively, output 2 could be used as a second aileron servo output with -separate mixing. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 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/mk/PX4/ROMFS/mixers/FMU_Q.mix b/mk/PX4/ROMFS/mixers/FMU_Q.mix deleted file mode 100644 index ebcb66b248..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_Q.mix +++ /dev/null @@ -1,52 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -Designed for Bormatec Camflyer Q - -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 -5000 -8000 0 -10000 10000 -S: 0 1 8000 8000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -8000 -5000 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 - diff --git a/mk/PX4/ROMFS/mixers/FMU_RET.mix b/mk/PX4/ROMFS/mixers/FMU_RET.mix deleted file mode 100644 index 95beb8927c..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_RET.mix +++ /dev/null @@ -1,53 +0,0 @@ -Rudder/elevator/throttle mixer for PX4FMU -========================================= - -This file defines mixers suitable for controlling a fixed wing aircraft with -rudder, elevator and throttle controls using PX4FMU. The configuration assumes -the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 -and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Rudder mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 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/mk/PX4/ROMFS/mixers/FMU_X5.mix b/mk/PX4/ROMFS/mixers/FMU_X5.mix deleted file mode 100644 index 9f81e1dc3a..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_X5.mix +++ /dev/null @@ -1,50 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -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 -3000 -5000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -5000 -3000 0 -10000 10000 -S: 0 1 5000 5000 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/mk/PX4/ROMFS/mixers/FMU_delta.mix b/mk/PX4/ROMFS/mixers/FMU_delta.mix deleted file mode 100644 index 9814667041..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_delta.mix +++ /dev/null @@ -1,50 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -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 3000 5000 0 -10000 10000 -S: 0 1 5000 5000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 5000 3000 0 -10000 10000 -S: 0 1 -5000 -5000 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/mk/PX4/ROMFS/mixers/FMU_hex_+.mix b/mk/PX4/ROMFS/mixers/FMU_hex_+.mix deleted file mode 100644 index b5e38ce9ef..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_hex_+.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the + configuration. All controls -are mixed 100%. - -R: 6+ 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_hex_x.mix b/mk/PX4/ROMFS/mixers/FMU_hex_x.mix deleted file mode 100644 index 8e8d122adc..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_hex_x.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the X configuration. All controls -are mixed 100%. - -R: 6x 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_octo_+.mix b/mk/PX4/ROMFS/mixers/FMU_octo_+.mix deleted file mode 100644 index 2cb70e814c..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_octo_+.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the + configuration. All controls -are mixed 100%. - -R: 8+ 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_octo_x.mix b/mk/PX4/ROMFS/mixers/FMU_octo_x.mix deleted file mode 100644 index edc71f0139..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_octo_x.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the X configuration. All controls -are mixed 100%. - -R: 8x 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_pass.mix b/mk/PX4/ROMFS/mixers/FMU_pass.mix deleted file mode 100644 index 163d308251..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_pass.mix +++ /dev/null @@ -1,38 +0,0 @@ -Passthrough mixer for PX4FMU -============================ - -This file defines passthrough mixers suitable for testing. - -Channel group 0, channels 0-7 are passed directly through to the outputs. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000 - -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 diff --git a/mk/PX4/ROMFS/mixers/FMU_quad_+.mix b/mk/PX4/ROMFS/mixers/FMU_quad_+.mix deleted file mode 100644 index dfdf1d58e0..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_quad_+.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the + configuration. All controls -are mixed 100%. - -R: 4+ 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_quad_v.mix b/mk/PX4/ROMFS/mixers/FMU_quad_v.mix deleted file mode 100644 index 2a4a0f3419..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_quad_v.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the V configuration. All controls -are mixed 100%. - -R: 4v 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_quad_x.mix b/mk/PX4/ROMFS/mixers/FMU_quad_x.mix deleted file mode 100644 index 12a3bee20c..0000000000 --- a/mk/PX4/ROMFS/mixers/FMU_quad_x.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the X configuration. All controls -are mixed 100%. - -R: 4x 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/README b/mk/PX4/ROMFS/mixers/README deleted file mode 100644 index 6649c53c20..0000000000 --- a/mk/PX4/ROMFS/mixers/README +++ /dev/null @@ -1,154 +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. - -Mixer basics ------------- - -Mixers combine control values from various sources (control tasks, user inputs, -etc.) and produce output values suitable for controlling actuators; servos, -motors, switches and so on. - -An actuator derives its value from the combination of one or more control -values. Each of the control values is scaled according to the actuator's -configuration and then combined to produce the actuator value, which may then be -further scaled to suit the specific output type. - -Internally, all scaling is performed using floating point values. Inputs and -outputs are clamped to the range -1.0 to 1.0. - -control control control - | | | - v v v - scale scale scale - | | | - | v | - +-------> mix <------+ - | - scale - | - v - out - -Scaling -------- - -Basic scalers provide linear scaling of the input to the output. - -Each scaler allows the input value to be scaled independently for inputs -greater/less than zero. An offset can be applied to the output, and lower and -upper boundary constraints can be applied. Negative scaling factors cause the -output to be inverted (negative input produces positive output). - -Scaler pseudocode: - -if (input < 0) - output = (input * NEGATIVE_SCALE) + OFFSET -else - output = (input * POSITIVE_SCALE) + OFFSET - -if (output < LOWER_LIMIT) - output = LOWER_LIMIT -if (output > UPPER_LIMIT) - output = UPPER_LIMIT - -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. - -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.