forked from Archive/PX4-Autopilot
85 lines
2.5 KiB
Plaintext
85 lines
2.5 KiB
Plaintext
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Aileron/v-tail/throttle/wheel/flaps 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, v-tail (rudder, elevator), throttle, steerable wheel and flaps
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using PX4FMU.
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The configuration assumes the aileron servos are connected to PX4FMU servo
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output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4, the wheel to output 5 and the flaps to output 6 and 7.
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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) 4 (flaps) 6 (flaperon).
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Aileron mixer (roll + flaperon)
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---------------------------------
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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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M: 2
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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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S: 0 6 10000 10000 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 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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V-tail 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 tail servos are physically reversed, the pitch
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input is inverted between the two servos.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 2 -7000 -7000 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 2 -7000 -7000 0 -10000 10000
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S: 0 1 8000 8000 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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Flaps mixer
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------------
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Flap servos are physically reversed.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 0 5000 -10000 -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 0 -5000 10000 -10000 10000
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