From 2f1327540a703c32d6d47692f832b0f45d43e9ab Mon Sep 17 00:00:00 2001
From: sanderux <sander@droneslab.com>
Date: Fri, 28 Jul 2017 15:37:17 +0200
Subject: [PATCH] DeltaQuad mixer upgrade

---
 ROMFS/px4fmu_common/init.d/13013_deltaquad    | 18 ++++---
 ROMFS/px4fmu_common/mixers/deltaquad.main.mix | 50 +++++++++++++++++++
 2 files changed, 62 insertions(+), 6 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/mixers/deltaquad.main.mix

diff --git a/ROMFS/px4fmu_common/init.d/13013_deltaquad b/ROMFS/px4fmu_common/init.d/13013_deltaquad
index 95387415c9..895ec3402c 100644
--- a/ROMFS/px4fmu_common/init.d/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad
@@ -11,9 +11,10 @@
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
 # @output MAIN4 motor 4
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
+# @output MAIN5 Right elevon
+# @output MAIN6 Left elevon
+# @output MAIN7 Pusher motor
+# @output MAIN8 Pusher reverse channel
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -107,12 +108,17 @@ then
 	param set SYS_COMPANION 57600
 fi
 
-set MIXER quad_x
+set MIXER deltaquad
 set PWM_OUT 1234
 set PWM_RATE 400
 
-set MIXER_AUX vtol_delta
-set PWM_ACHDIS 3
+param set PWM_MAIN_DIS5 1500
+param set PWM_MAIN_DIS6 1500
+param set PWM_MAIN_DIS7 900
+param set PWM_MAIN_DIS8 900
+
+set MIXER_AUX pass
+set PWM_AUX_OUT 12345
 set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
diff --git a/ROMFS/px4fmu_common/mixers/deltaquad.main.mix b/ROMFS/px4fmu_common/mixers/deltaquad.main.mix
new file mode 100644
index 0000000000..7b08c94949
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/deltaquad.main.mix
@@ -0,0 +1,50 @@
+# DeltaQuad mixer for PX4FMU
+#=============================
+
+Quad motors 1 - 4
+-------------
+
+R: 4x 10000 10000 10000 0
+
+
+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.
+
+5: right
+-------------
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -8000  -8000      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+6: left
+-------------
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -8000  -8000      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000
+
+
+7: 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: 1 3      0  20000 -10000 -10000  10000
+
+8: Reverse thrust (brake) mixer
+-----------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 6      0  20000 -10000 -10000  10000