From 8ff40d80485ecb4cfb772dd8f543d67bbfd4e99b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 8 Jul 2017 19:15:56 -0400 Subject: [PATCH] consolidate standard plane configurations --- ROMFS/px4fmu_common/init.d/2100_mpx_easystar | 18 ----- .../{2101_fw_AERT => 2100_standard_plane} | 11 ++- ROMFS/px4fmu_common/init.d/2102_3dr_skywalker | 23 ------ .../px4fmu_common/init.d/2103_skyhunter_1800 | 24 ------ ROMFS/px4fmu_common/init.d/2104_fw_AETR | 30 ------- ROMFS/px4fmu_common/mixers/AERT.main.mix | 81 ------------------- ROMFS/px4fmu_common/mixers/AET.main.mix | 77 ------------------ .../mixers/{AETR.main.mix => AETRFG.main.mix} | 36 ++++----- ROMFS/px4fmu_common/mixers/IO_pass.mix | 38 --------- ROMFS/px4fmu_common/mixers/RET.main.mix | 53 ------------ ROMFS/px4fmu_common/mixers/easystar.main.mix | 31 ------- ROMFS/px4fmu_common/mixers/skywalker.main.mix | 64 --------------- 12 files changed, 25 insertions(+), 461 deletions(-) delete mode 100644 ROMFS/px4fmu_common/init.d/2100_mpx_easystar rename ROMFS/px4fmu_common/init.d/{2101_fw_AERT => 2100_standard_plane} (71%) delete mode 100644 ROMFS/px4fmu_common/init.d/2102_3dr_skywalker delete mode 100644 ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 delete mode 100644 ROMFS/px4fmu_common/init.d/2104_fw_AETR delete mode 100644 ROMFS/px4fmu_common/mixers/AERT.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/AET.main.mix rename ROMFS/px4fmu_common/mixers/{AETR.main.mix => AETRFG.main.mix} (67%) delete mode 100644 ROMFS/px4fmu_common/mixers/IO_pass.mix delete mode 100644 ROMFS/px4fmu_common/mixers/RET.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/easystar.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/skywalker.main.mix diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar deleted file mode 100644 index bdba1f26ab..0000000000 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ /dev/null @@ -1,18 +0,0 @@ -#!nsh -# -# @name Multiplex Easystar -# -# @type Standard Plane -# @class Plane -# -# @output MAIN1 aileron -# @output MAIN2 elevator -# @output MAIN3 rudder -# @output MAIN4 throttle -# -# @maintainer Lorenz Meier -# - -sh /etc/init.d/rc.fw_defaults - -set MIXER easystar diff --git a/ROMFS/px4fmu_common/init.d/2101_fw_AERT b/ROMFS/px4fmu_common/init.d/2100_standard_plane similarity index 71% rename from ROMFS/px4fmu_common/init.d/2101_fw_AERT rename to ROMFS/px4fmu_common/init.d/2100_standard_plane index 3896951c0c..13ce1359ec 100644 --- a/ROMFS/px4fmu_common/init.d/2101_fw_AERT +++ b/ROMFS/px4fmu_common/init.d/2100_standard_plane @@ -1,6 +1,6 @@ #!nsh # -# @name Standard AERT Plane +# @name Standard Plane # # @type Standard Plane # @class Plane @@ -21,7 +21,10 @@ sh /etc/init.d/rc.fw_defaults -set MIXER AERT +set MIXER AETRFG -# use PWM parameters for throttle channel -set PWM_OUT 4 +set PWM_RATE 50 +set PWM_AUX_RATE 50 + +# rate must be set by group (see pwm info) +# throttle is in the same group as servos diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker deleted file mode 100644 index deb25edb68..0000000000 --- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker +++ /dev/null @@ -1,23 +0,0 @@ -#!nsh -# -# @name Skywalker (3DR Aero) -# -# @type Standard Plane -# @class Plane -# -# @output MAIN1 aileron -# @output MAIN2 elevator -# @output MAIN4 rudder -# @output MAIN3 throttle -# @output MAIN5 flaps -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Lorenz Meier -# - -sh /etc/init.d/rc.fw_defaults - -set MIXER skywalker \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 deleted file mode 100644 index 9a93822875..0000000000 --- a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 +++ /dev/null @@ -1,24 +0,0 @@ -#!nsh -# -# @name Skyhunter 1800 -# -# @type Standard Plane -# @class Plane -# -# @output MAIN1 aileron -# @output MAIN2 elevator -# @output MAIN3 EMPTY -# @output MAIN4 throttle -# @output MAIN5 flaps -# @output MAIN6 gear -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Lorenz Meier -# - -sh /etc/init.d/rc.fw_defaults - -set MIXER AET diff --git a/ROMFS/px4fmu_common/init.d/2104_fw_AETR b/ROMFS/px4fmu_common/init.d/2104_fw_AETR deleted file mode 100644 index 4406b5332a..0000000000 --- a/ROMFS/px4fmu_common/init.d/2104_fw_AETR +++ /dev/null @@ -1,30 +0,0 @@ -#!nsh -# -# @name Standard AETR Plane -# -# @type Standard Plane -# @class Plane -# -# @output MAIN1 aileron -# @output MAIN2 elevator -# @output MAIN3 throttle -# @output MAIN4 rudder -# @output MAIN5 flaps -# @output MAIN6 gear -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Lorenz Meier -# - -sh /etc/init.d/rc.fw_defaults - -set MIXER AETR - -# use PWM parameters for throttle channel -set PWM_OUT 3 -set PWM_DISARMED p:PWM_DISARMED -set PWM_MIN p:PWM_MIN -set PWM_MAX p:PWM_MAX diff --git a/ROMFS/px4fmu_common/mixers/AERT.main.mix b/ROMFS/px4fmu_common/mixers/AERT.main.mix deleted file mode 100644 index a58ecf6f54..0000000000 --- a/ROMFS/px4fmu_common/mixers/AERT.main.mix +++ /dev/null @@ -1,81 +0,0 @@ -Aileron/rudder/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, rudder, elevator and throttle controls using PX4FMU. The configuration -assumes the aileron servo(s) are connected to PX4FMU servo output 0, the -elevator to output 1, the rudder to output 2 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -CH1: Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -CH2: Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -CH3: Rudder mixer ------------- -Two scalers total (output, yaw). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -CH4: 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: 0 3 0 20000 -10000 -10000 10000 - -CH5: Flaps mixer ------------- -Flaps are controlled automatically in position control and auto -but can also be controlled manually - -M: 1 -O: 5000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 - -Ch6: Landing gear mixer ------------- -By default pass-through of gear switch - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 3 5 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/AET.main.mix b/ROMFS/px4fmu_common/mixers/AET.main.mix deleted file mode 100644 index 3f6f8c0a08..0000000000 --- a/ROMFS/px4fmu_common/mixers/AET.main.mix +++ /dev/null @@ -1,77 +0,0 @@ -Aileron/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, elevator and throttle controls using PX4FMU. The configuration assumes -the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to -output 1 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -CH1: Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -Alternatively, output 2 could be used as a second aileron servo output with -separate mixing. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -CH2: Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -CH3: Output 2 --------- -This mixer is empty. - -Z: - -CH4: 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: 0 3 0 20000 -10000 -10000 10000 - -CH5: Flaps mixer ------------- -Flaps are controlled automatically in position control and auto -but can also be controlled manually - -M: 1 -O: 5000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 - -Ch6: Landing gear mixer ------------- -By default pass-through of gear switch - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 3 5 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/AETR.main.mix b/ROMFS/px4fmu_common/mixers/AETRFG.main.mix similarity index 67% rename from ROMFS/px4fmu_common/mixers/AETR.main.mix rename to ROMFS/px4fmu_common/mixers/AETRFG.main.mix index 98c838c512..9ae1d7302b 100644 --- a/ROMFS/px4fmu_common/mixers/AETR.main.mix +++ b/ROMFS/px4fmu_common/mixers/AETRFG.main.mix @@ -1,13 +1,13 @@ -Aileron/Elevator/Throttle/Rudder mixer for PX4FMU +Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer ================================================== This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, rudder, elevator and throttle controls using PX4FMU. The configuration -assumes the aileron servo(s) are connected to PX4FMU servo output 0, the -elevator to output 1, the throttle to output 2 and the rudder to output 3. +aileron, rudder, elevator, throttle, gear, flaps controls. The configuration +assumes the aileron servo(s) are connected to output 0, the elevator to +output 1, the throttle to output 2 and the rudder to output 3. Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). +(roll), 1 (pitch), 2 (yaw), 3 (thrust), 4 (flaps), 7 (landing gear) CH1: Aileron mixer ------------- @@ -23,8 +23,8 @@ differences between the servos must be made mechanically. To obtain the correct motion using a Y cable, the servos can be positioned reversed from one another. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 CH2: Elevator mixer ------------ @@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 CH3: Motor speed mixer ----------------- @@ -47,8 +47,8 @@ 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: 0 3 0 20000 -10000 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 CH4: Rudder mixer ------------ @@ -60,8 +60,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 CH5: Flaps mixer ------------ @@ -69,13 +69,13 @@ Flaps are controlled automatically in position control and auto but can also be controlled manually M: 1 -O: 5000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 +O: 5000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 -Ch6: Landing gear mixer +CH6: Landing gear mixer ------------ By default pass-through of gear switch M: 1 -O: 10000 10000 0 -10000 10000 -S: 3 5 10000 10000 0 -10000 10000 +O: 10000 10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/IO_pass.mix b/ROMFS/px4fmu_common/mixers/IO_pass.mix deleted file mode 100644 index 39f875ddb9..0000000000 --- a/ROMFS/px4fmu_common/mixers/IO_pass.mix +++ /dev/null @@ -1,38 +0,0 @@ -Passthrough mixer for PX4IO -============================ - -This file defines passthrough mixers suitable for testing. - -Channel group 0, channels 0-7 are passed directly through to the outputs. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/RET.main.mix b/ROMFS/px4fmu_common/mixers/RET.main.mix deleted file mode 100644 index 95beb8927c..0000000000 --- a/ROMFS/px4fmu_common/mixers/RET.main.mix +++ /dev/null @@ -1,53 +0,0 @@ -Rudder/elevator/throttle mixer for PX4FMU -========================================= - -This file defines mixers suitable for controlling a fixed wing aircraft with -rudder, elevator and throttle controls using PX4FMU. The configuration assumes -the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 -and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Rudder mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -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: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/easystar.main.mix b/ROMFS/px4fmu_common/mixers/easystar.main.mix deleted file mode 100644 index 0051ffdbba..0000000000 --- a/ROMFS/px4fmu_common/mixers/easystar.main.mix +++ /dev/null @@ -1,31 +0,0 @@ -EASYSTAR / EASYSTAR II MIXER -============================ - -Aileron mixer -------------- -One output - would be easy to add support for 2 servos - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Rudder mixer ------------- - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 -10000 -10000 0 -10000 10000 - -Motor speed mixer ------------------ - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/skywalker.main.mix b/ROMFS/px4fmu_common/mixers/skywalker.main.mix deleted file mode 100644 index 04d677e566..0000000000 --- a/ROMFS/px4fmu_common/mixers/skywalker.main.mix +++ /dev/null @@ -1,64 +0,0 @@ -Mixer for Skywalker Airframe -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, rudder, elevator and throttle controls using PX4FMU. The configuration -assumes the aileron servo(s) are connected to PX4FMU servo output 0, the -elevator to output 1, the rudder to output 2 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - -Rudder mixer ------------- -Two scalers total (output, yaw). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -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: 0 3 0 20000 -10000 -10000 10000