forked from Archive/PX4-Autopilot
65 lines
2.2 KiB
Plaintext
65 lines
2.2 KiB
Plaintext
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Mixer for Skywalker Airframe
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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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