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Add a config for a standard delta VTOL.

This commit is contained in:
Simon Wilks 2015-08-13 06:57:33 +02:00
parent f1ab7cc880
commit 99a6dfd926
2 changed files with 89 additions and 0 deletions
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50
ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta Normal file
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#!nsh
#
# @name Generic quad delta VTOL.
#
# @type Standard VTOL
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
fi
set MIXER vtol_quad_x
set PWM_OUT 12345678
set MIXER_AUX vtol_delta
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set MAV_TYPE 22
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2

39
ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix Normal file
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Delta-wing VTOL mixer
=====================
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
AUX servo outputs 0 and 1 and the motor speed control to output 2.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -6000 -6000 0 -10000 10000
S: 1 1 6500 6500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -6000 -6000 0 -10000 10000
S: 1 1 -6500 -6500 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