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DeltaQuad mixer upgrade

This commit is contained in:
sanderux 2017-07-28 15:37:17 +02:00 committed by Lorenz Meier
parent 220bd82b93
commit 2f1327540a
2 changed files with 62 additions and 6 deletions
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18
ROMFS/px4fmu_common/init.d/13013_deltaquad
View File

@ -11,9 +11,10 @@
# @output MAIN2 motor 2 # @output MAIN2 motor 2
# @output MAIN3 motor 3 # @output MAIN3 motor 3
# @output MAIN4 motor 4 # @output MAIN4 motor 4
# @output AUX1 Right elevon # @output MAIN5 Right elevon
# @output AUX2 Left elevon # @output MAIN6 Left elevon
# @output AUX3 Motor # @output MAIN7 Pusher motor
# @output MAIN8 Pusher reverse channel
# #
sh /etc/init.d/rc.vtol_defaults sh /etc/init.d/rc.vtol_defaults
@ -107,12 +108,17 @@ then
param set SYS_COMPANION 57600 param set SYS_COMPANION 57600
fi fi
set MIXER quad_x set MIXER deltaquad
set PWM_OUT 1234 set PWM_OUT 1234
set PWM_RATE 400 set PWM_RATE 400
set MIXER_AUX vtol_delta param set PWM_MAIN_DIS5 1500
set PWM_ACHDIS 3 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 PWM_AUX_DISARMED 950
set MAV_TYPE 22 set MAV_TYPE 22

50
ROMFS/px4fmu_common/mixers/deltaquad.main.mix Normal file
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@ -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