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

fix mixers README.md 

-the angle brackets in the tag descriptions were breaking the markdown
This commit is contained in:
Daniel Agar 2015-06-07 21:37:07 -04:00
parent fee48a77ae
commit a7d7c69a79
1 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
ROMFS/px4fmu_common/mixers/README.md
View File

@ -34,7 +34,7 @@ collection of mixers in order to achieve a specific pattern of actuator outputs.
The null mixer definition has the form:
Z:
Z:
#### Simple Mixer ####
@ -44,8 +44,8 @@ applying an output scaler.
A simple mixer definition begins with:
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will
output a fixed value that is <offset> constrained by <lower limit> and <upper
@ -59,7 +59,7 @@ offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control
inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
The <group> value identifies the control group from which the scaler will read,
and the <index> value an offset within that group. These values are specific to
@ -81,16 +81,16 @@ into a set of actuator outputs intended to drive motor speed controllers.
The mixer definition is a single line of the form:
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
The supported geometries include:
4x - quadrotor in X configuration
4+ - quadrotor in + configuration
6x - hexcopter in X configuration
6+ - hexcopter in + configuration
8x - octocopter in X configuration
8+ - octocopter in + configuration
* 4x - quadrotor in X configuration
* 4+ - quadrotor in + configuration
* 6x - hexcopter in X configuration
* 6+ - hexcopter in + configuration
* 8x - octocopter in X configuration
* 8+ - octocopter in + configuration
Each of the roll, pitch and yaw scale values determine scaling of the roll,
pitch and yaw controls relative to the thrust control. Whilst the calculations
@ -102,4 +102,4 @@ thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
range -1.0 to 1.0.
In the case where an actuator saturates, all actuator values are rescaled so that
the saturating actuator is limited to 1.0.
the saturating actuator is limited to 1.0.