PX4: removed unused mixer files
reduce size of ROMFS
This commit is contained in:
Andrew Tridgell
parent
05e533e6fc
commit
c823d64073
@ -1,64 +0,0 @@
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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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@ -1,60 +0,0 @@
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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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@ -1,52 +0,0 @@
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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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@ -1,53 +0,0 @@
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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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@ -1,50 +0,0 @@
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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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@ -1,50 +0,0 @@
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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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@ -1,7 +0,0 @@
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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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@ -1,7 +0,0 @@
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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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@ -1,7 +0,0 @@
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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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@ -1,7 +0,0 @@
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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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@ -1,38 +0,0 @@
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Passthrough mixer for PX4FMU
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============================
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This file defines passthrough mixers suitable for testing.
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Channel group 0, channels 0-7 are passed directly through to the outputs.
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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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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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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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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 7 10000 10000 0 -10000 10000
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@ -1,7 +0,0 @@
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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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@ -1,7 +0,0 @@
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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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@ -1,7 +0,0 @@
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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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@ -1,154 +0,0 @@
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PX4 mixer definitions
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=====================
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Files in this directory implement example mixers that can be used as a basis
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for customisation, or for general testing purposes.
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Mixer basics
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------------
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Mixers combine control values from various sources (control tasks, user inputs,
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etc.) and produce output values suitable for controlling actuators; servos,
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motors, switches and so on.
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An actuator derives its value from the combination of one or more control
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values. Each of the control values is scaled according to the actuator's
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configuration and then combined to produce the actuator value, which may then be
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further scaled to suit the specific output type.
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Internally, all scaling is performed using floating point values. Inputs and
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outputs are clamped to the range -1.0 to 1.0.
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control control control
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| | |
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v v v
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scale scale scale
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| | |
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| v |
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+-------> mix <------+
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scale
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|
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v
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out
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Scaling
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-------
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Basic scalers provide linear scaling of the input to the output.
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Each scaler allows the input value to be scaled independently for inputs
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greater/less than zero. An offset can be applied to the output, and lower and
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upper boundary constraints can be applied. Negative scaling factors cause the
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output to be inverted (negative input produces positive output).
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Scaler pseudocode:
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if (input < 0)
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output = (input * NEGATIVE_SCALE) + OFFSET
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else
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output = (input * POSITIVE_SCALE) + OFFSET
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if (output < LOWER_LIMIT)
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output = LOWER_LIMIT
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if (output > UPPER_LIMIT)
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output = UPPER_LIMIT
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Syntax
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------
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Mixer definitions are text files; lines beginning with a single capital letter
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followed by a colon are significant. All other lines are ignored, meaning that
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explanatory text can be freely mixed with the definitions.
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Each file may define more than one mixer; the allocation of mixers to actuators
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is specific to the device reading the mixer definition, and the number of
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actuator outputs generated by a mixer is specific to the mixer.
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A mixer begins with a line of the form
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<tag>: <mixer arguments>
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The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
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multirotor mixer, etc.
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Null Mixer
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..........
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A null mixer consumes no controls and generates a single actuator output whose
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value is always zero. Typically a null mixer is used as a placeholder in a
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collection of mixers in order to achieve a specific pattern of actuator outputs.
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The null mixer definition has the form:
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Z:
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Simple Mixer
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............
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A simple mixer combines zero or more control inputs into a single actuator
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output. Inputs are scaled, and the mixing function sums the result before
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applying an output scaler.
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A simple mixer definition begins with:
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M: <control count>
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O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
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If <control count> is zero, the sum is effectively zero and the mixer will
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output a fixed value that is <offset> constrained by <lower limit> and <upper
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limit>.
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The second line defines the output scaler with scaler parameters as discussed
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above. Whilst the calculations are performed as floating-point operations, the
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values stored in the definition file are scaled by a factor of 10000; i.e. an
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||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> 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: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
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.
|
||||
Loading…
Reference in New Issue
Block a user