forked from Archive/PX4-Autopilot
DeltaQuad mixer upgrade
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@ -11,9 +11,10 @@
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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# @output AUX1 Right elevon
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# @output AUX2 Left elevon
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# @output AUX3 Motor
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# @output MAIN5 Right elevon
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# @output MAIN6 Left elevon
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# @output MAIN7 Pusher motor
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# @output MAIN8 Pusher reverse channel
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#
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sh /etc/init.d/rc.vtol_defaults
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@ -107,12 +108,17 @@ then
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param set SYS_COMPANION 57600
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fi
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set MIXER quad_x
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set MIXER deltaquad
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set PWM_OUT 1234
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set PWM_RATE 400
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set MIXER_AUX vtol_delta
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set PWM_ACHDIS 3
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param set PWM_MAIN_DIS5 1500
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param set PWM_MAIN_DIS6 1500
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param set PWM_MAIN_DIS7 900
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param set PWM_MAIN_DIS8 900
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set MIXER_AUX pass
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set PWM_AUX_OUT 12345
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set PWM_AUX_DISARMED 950
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set MAV_TYPE 22
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@ -0,0 +1,50 @@
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# DeltaQuad mixer for PX4FMU
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#=============================
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Quad motors 1 - 4
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-------------
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R: 4x 10000 10000 10000 0
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Elevon 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 elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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5: right
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-------------
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 1 0 -8000 -8000 0 -10000 10000
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S: 1 1 8000 8000 0 -10000 10000
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6: left
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-------------
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 1 0 -8000 -8000 0 -10000 10000
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S: 1 1 -8000 -8000 0 -10000 10000
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7: 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: 1 3 0 20000 -10000 -10000 10000
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8: Reverse thrust (brake) mixer
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-----------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 6 0 20000 -10000 -10000 10000
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