forked from Archive/PX4-Autopilot
96 lines
3.1 KiB
Plaintext
96 lines
3.1 KiB
Plaintext
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Aileron/rudder/elevator/throttle/wheel mixer for PX4FMU
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
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The configuration assumes the aileron servo(s) are connected to PX4FMU servo
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output 0, the elevator to output 1, the rudder to output 2, the throttle
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to output 3 and the wheel to output 4.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) 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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Wheel mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the wheel 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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Gimbal / flaps / payload mixer for last three channels,
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using the payload control group
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-----------------------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 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: 2 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: 2 2 10000 10000 0 -10000 10000
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