dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Drop the X and + rotor mixers. We can't do multirotor mixing statically like that, as there is no mechanism for dealing with channel saturation.

This commit is contained in:
px4dev 2012-08-07 21:25:30 -07:00
parent 1a3f78657e
commit 7a6a4b9352
2 changed files with 0 additions and 108 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
ROMFS/mixers/FMU_quad+.mix
View File

@ -1,54 +0,0 @@
Quadrotor + mixer for PX4FMU
============================
This file defines mixers suitable for controlling a quadrotor in the +
arrangement using PX4FMU. The configuration assumes the motors are connected
starting with the front motor on output 0 and proceeding clockwise.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
See the README for more information on the scaler format.
Scale values here will definitely need tuning.
Front
-----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 0 0 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Right
-----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 1000 1000 0 -10000 10000
S: 0 1 0 0 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Back
----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 0 0 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Left
----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 -1000 -1000 0 -10000 10000
S: 0 1 0 0 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

54
ROMFS/mixers/FMU_quadX.mix
View File

@ -1,54 +0,0 @@
Quadrotor X mixer for PX4FMU
============================
This file defines mixers suitable for controlling a quadrotor in the X
arrangement using PX4FMU. The configuration assumes the motors are connected
starting with the front-right motor on output 0 and proceeding clockwise.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
See the README for more information on the scaler format.
Scale values here will definitely need tuning.
Front right
-----------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 1000 1000 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Back right
----------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 1000 1000 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Back left
---------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 -1000 -1000 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Front left
----------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 -1000 -1000 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000