forked from Archive/PX4-Autopilot
82 lines
2.7 KiB
Plaintext
82 lines
2.7 KiB
Plaintext
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Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
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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, throttle, gear, flaps controls. The configuration
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assumes the aileron servo(s) are connected to output 0, the elevator to
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output 1, the throttle to output 2 and the rudder 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), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
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CH1: 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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CH2: 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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CH3: 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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CH4: 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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CH5: Flaps mixer
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------------
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Flaps are controlled automatically in position control and auto
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but can also be controlled manually
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M: 1
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O: 5000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -10000 10000
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CH6: Landing gear mixer
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------------
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By default pass-through of gear switch
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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