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Merge pull request #1183 from sjwilks/fx61_mixer 

Phantom FX-61 mixer
This commit is contained in:
Lorenz Meier 2014-07-15 07:23:36 +02:00
parent ddc8f1fa5f 9f837267de
commit 23fe3b64be
2 changed files with 68 additions and 1 deletions
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2
ROMFS/px4fmu_common/init.d/3031_phantom
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@ -36,7 +36,7 @@ then
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
set MIXER phantom
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4

67
ROMFS/px4fmu_common/mixers/phantom.mix Normal file
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@ -0,0 +1,67 @@
Phantom FX-61 mixer
===================
This file defines mixers suitable for controlling a delta wing aircraft using
PX4/Pixhawk. The configuration assumes the elevon servos are connected to
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor are set so that pitch will have more travel than roll.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -6000 -6000 0 -10000 10000
S: 0 1 6500 6500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -6000 -6000 0 -10000 10000
S: 0 1 -6500 -6500 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000