mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.3 KiB
Plaintext
51 lines
1.3 KiB
Plaintext
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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