forked from Archive/PX4-Autopilot
px4fmu_test update mixers
This commit is contained in:
Daniel Agar
parent
45eb9cb518
commit
95f17d5669
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Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
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=======================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
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The configuration assumes the aileron servo(s) are connected to PX4FMU servo
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output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
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to output 4 and the wheel to output 5.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
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Aileron mixer (roll + flaperon)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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Rudder mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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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: 0 3 0 20000 -10000 -10000 10000
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Wheel mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the wheel servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Flaps / gimbal / payload mixer for last three channels,
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using the payload control group
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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: 0 4 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 0 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 2 10000 10000 0 -10000 10000
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Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
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=======================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
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using PX4FMU.
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The configuration assumes the aileron servos are connected to PX4FMU servo
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output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4, the wheel to output 5 and the flaps to output 6 and 7.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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Aileron mixer (roll + flaperon)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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V-tail 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 tail servos are physically reversed, the pitch
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input is inverted between the two servos.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 2 -7000 -7000 0 -10000 10000
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S: 0 1 -8000 -8000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 2 -7000 -7000 0 -10000 10000
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S: 0 1 8000 8000 0 -10000 10000
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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: 0 3 0 20000 -10000 -10000 10000
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Wheel mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the wheel servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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Flaps mixer
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------------
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Flap servos are physically reversed.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 0 5000 -10000 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 0 -5000 10000 -10000 10000
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Aileron/rudder/elevator/throttle mixer for PX4FMU
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==================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
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assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
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elevator to output 1, the rudder to output 2 and the throttle to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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CH1: Aileron mixer
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-------------
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Two scalers total (output, roll).
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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As there is only one output, if using two servos adjustments to compensate for
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differences between the servos must be made mechanically. To obtain the correct
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motion using a Y cable, the servos can be positioned reversed from one another.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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CH2: Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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CH3: Rudder mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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CH4: 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: 0 3 0 20000 -10000 -10000 10000
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CH5: Flaps mixer
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------------
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Flaps are controlled automatically in position control and auto
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but can also be controlled manually
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M: 1
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O: 5000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -10000 10000
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Ch6: Landing gear mixer
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------------
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By default pass-through of gear switch
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
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==================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
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assumes the aileron servo(s) are connected to output 0, the elevator to
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output 1, the throttle to output 2 and the rudder to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
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CH1: Aileron mixer
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-------------
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Two scalers total (output, roll).
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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As there is only one output, if using two servos adjustments to compensate for
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differences between the servos must be made mechanically. To obtain the correct
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motion using a Y cable, the servos can be positioned reversed from one another.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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CH2: Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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CH3: 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: 0 3 0 20000 -10000 -10000 10000
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CH4: Rudder mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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CH5: Flaps mixer
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------------
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Flaps are controlled automatically in position control and auto
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but can also be controlled manually
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M: 1
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O: 5000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -10000 10000
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CH6: Landing gear mixer
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------------
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By default pass-through of gear switch
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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@ -32,10 +32,22 @@
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############################################################################
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px4_add_romfs_files(
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AAERTWF.main.mix
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AAVVTWFF.main.mix
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AERT.main.mix
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AETRFG.main.mix
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complex_test.mix
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hexa_x.main.mix
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IO_pass.mix
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octo_x.main.mix
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pass.aux.mix
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quad_+.main.mix
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quad_test.mix
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uuv_quad_x.mix
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quad_+_vtol.main.mix
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ugv_generic.main.mix
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vtol1_test.mix
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vtol2_test.mix
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vtol_AAERT.aux.mix
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vtol_AAVVT.aux.mix
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vtol_convergence.main.mix
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)
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# Hexa X
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R: 6x 10000 10000 10000 0
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# Octo X
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R: 8x 10000 10000 10000 0
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# Manual pass through mixer for servo outputs 1-4
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# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 6 10000 10000 0 -10000 10000
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# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 7 10000 10000 0 -10000 10000
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# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 4 10000 10000 0 -10000 10000
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a quadrotor in the + configuration. All controls
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are mixed 100%.
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R: 4+ 10000 10000 10000 0
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Gimbal / payload mixer for last two channels
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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: 3 5 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 3 6 10000 10000 0 -10000 10000
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Mixer for Tailsitter with + motor configuration and elevons
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===========================================================
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This file defines a single mixer for tailsitter with motors in X configuration. All controls
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are mixed 100%.
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R: 4+ 10000 10000 10000 0
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# mixer for the elevons
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 1 0 10000 10000 0 -10000 10000
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S: 1 1 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 1 0 10000 10000 0 -10000 10000
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S: 1 1 -10000 -10000 0 -10000 10000
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# mixer for canard surface
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 1 -10000 -10000 0 -10000 10000
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# mixer for rudder
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 2 -10000 -10000 0 -10000 10000
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Generic car mixer (eg Traxxas Stampede RC Car)
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===========================
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Designed for Traxxas Stampede
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This file defines mixers suitable for controlling a Traxxas Stampede rover using
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PX4FMU. The configuration assumes the steering is connected to PX4FMU
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servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
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See the README for more information on the scaler format.
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Output 0
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---------------------------------------
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Z:
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Steering mixer using roll on output 1
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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: 0 2 10000 10000 0 -10000 10000
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Output 2
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---------------------------------------
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This mixer is empty.
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Z:
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Output 3
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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: 0 3 10000 10000 0 -10000 10000
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@ -1,24 +0,0 @@
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 2 +10000 +10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 +10000 +10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 +10000 +10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 +10000 +10000 0 -10000 10000
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S: 0 1 +10000 +10000 0 -10000 10000
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S: 0 2 +10000 +10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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|
@ -0,0 +1,32 @@
|
|||
Mixer for an AAERT VTOL
|
||||
=======================
|
||||
|
||||
Aileron 1 mixer
|
||||
---------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 -7500 -7500 0 -10000 10000
|
||||
|
||||
Aileron 2 mixer
|
||||
---------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 -7500 -7500 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
--------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Throttle mixer
|
||||
--------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
Aileron/v-tail/throttle VTOL mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
|
||||
The configuration assumes the aileron servos are connected to PX4FMU
|
||||
AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
|
||||
to output 4.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
|
||||
|
||||
Aileron mixer (roll + flaperon)
|
||||
---------------------------------
|
||||
|
||||
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.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 6 -10000 -10000 0 -10000 10000
|
||||
|
||||
|
||||
V-tail mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two tail servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 2 -7000 -7000 0 -10000 10000
|
||||
S: 1 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 2 -7000 -7000 0 -10000 10000
|
||||
S: 1 1 8000 8000 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: 1 3 0 20000 -10000 -10000 10000
|
||||
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
# E-flite Convergence Tricopter Y-Configuration Mixer
|
||||
|
||||
# Motors
|
||||
R: 3y 10000 10000 10000 0
|
||||
|
||||
Z:
|
||||
|
||||
Tilt mechanism servo mixer
|
||||
---------------------------
|
||||
#RIGHT up:2000 down:1000
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 4 0 -20000 10000 -10000 10000
|
||||
S: 0 2 8000 8000 0 -10000 10000
|
||||
|
||||
#LEFT up:1000 down:2000
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 4 0 20000 -10000 -10000 10000
|
||||
S: 0 2 8000 8000 0 -10000 10000
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 -7500 -7500 0 -10000 10000
|
||||
S: 1 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 -7500 -7500 0 -10000 10000
|
||||
S: 1 1 -8000 -8000 0 -10000 10000
|
||||
Loading…
Reference in New Issue