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ROMFS: add new VTOL config and mixer (generic quadplane tiltrotor VTOL)

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Silvan Fuhrer 2021-03-24 00:55:19 +01:00 committed by GitHub
parent 2dace0c9ea
commit 3983f0b833
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4 changed files with 82 additions and 0 deletions
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41
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor Normal file
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@ -0,0 +1,41 @@
#!/bin/sh
#
# @name Generic Quadplane VTOL Tiltrotor
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Motor tilt front left
# @output AUX2 Motor tilt front right
# @output AUX3 Motor tilt rear left
# @output AUX4 Motor tilt rear right
# @output AUX5 Aileron left
# @output AUX6 Aileron right
# @output AUX7 Elevator
# @output AUX8 Rudder
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_RATE 400
param set-default VT_IDLE_PWM_MC 1100
param set-default VT_TYPE 1
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 24
set MAV_TYPE 21
set MIXER quad_x
set MIXER_AUX vtol_TTTTAAER
set PWM_OUT 1234

1
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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@ -137,6 +137,7 @@ px4_add_romfs_files(
13012_convergence 13012_convergence
13013_deltaquad 13013_deltaquad
13014_vtol_babyshark 13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13050_generic_vtol_octo 13050_generic_vtol_octo
13200_generic_vtol_tailsitter 13200_generic_vtol_tailsitter

1
ROMFS/px4fmu_common/mixers/CMakeLists.txt
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@ -90,6 +90,7 @@ px4_add_romfs_files(
Viper.main.mix Viper.main.mix
vtol_AAERT.aux.mix vtol_AAERT.aux.mix
vtol_AAVVT.aux.mix vtol_AAVVT.aux.mix
vtol_TTTTAAER.aux.mix
vtol_convergence.main.mix vtol_convergence.main.mix
vtol_delta.aux.mix vtol_delta.aux.mix
vtol_tailsitter_duo.main.mix vtol_tailsitter_duo.main.mix

39
ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix Normal file
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# Generic quadplane tiltrotor servo mixer
# Tilt mechanism servo mixer
---------------------------
# front left up:2000 down:1000
M: 1
S: 1 4 0 -20000 10000 -10000 10000
# front right up:1000 down:2000
M: 1
S: 1 4 0 20000 -10000 -10000 10000
# rear left up:2000 down:1000
M: 1
S: 1 4 0 -20000 10000 -10000 10000
# rear right up:1000 down:2000
M: 1
S: 1 4 0 20000 -10000 -10000 10000
# Aileron mixer
# ---------------------------------
M: 1
S: 1 0 10000 10000 0 -10000 10000
M: 1
S: 1 0 10000 10000 0 -10000 10000
# Elevator mixer
# ------------
M: 1
S: 1 1 -10000 -10000 0 -10000 10000
# Rudder mixer
# ------------
M: 1
S: 1 2 10000 10000 0 -10000 10000