forked from Archive/PX4-Autopilot
ROMFS: purge old mixing system
- SYS_USE_IO is now off by default (enabled by default per board)
This commit is contained in:
Daniel Agar
parent
ed10146e9f
commit
cac9c51ac8
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@ -21,7 +21,6 @@
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# PX4 mixers, msgs, etc
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*.bin binary
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*.mix text eol=lf
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*.msg text eol=lf
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*.config text eol=lf
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*.sdf text eol=lf
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1
Makefile
1
Makefile
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@ -322,6 +322,7 @@ px4io_update:
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# px4_io-v2_default
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
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@ -32,7 +32,6 @@
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############################################################################
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add_subdirectory(init.d)
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add_subdirectory(mixers)
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# TODO: make this configurable from the board config, or better combine
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if("${PX4_BOARD}" MATCHES "sitl")
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add_subdirectory(init.d-posix)
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@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
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PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
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param set-default SYS_CTRL_ALLOC 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 4
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@ -23,16 +23,6 @@ then
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fi
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# initialize script variables
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set IO_PRESENT no
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set MIXER skip
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set MIXER_AUX none
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set MIXER_FILE none
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set OUTPUT_MODE sim
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set EXTRA_MIXER_MODE none
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set PWM_OUT none
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set PWM_AUX_OUT none
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set SDCARD_MIXERS_PATH etc/mixers
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set USE_IO no
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set VEHICLE_TYPE none
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set LOGGER_ARGS ""
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set LOGGER_BUF 1000
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@ -227,10 +217,14 @@ manual_control start
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sensors start
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commander start
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# Configure vehicle type specific parameters.
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# Note: rc.vehicle_setup is the entry point for rc.interface,
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# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
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if ! pwm_out_sim start -m sim
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then
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tune_control play error
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fi
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#
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# Configure vehicle type specific parameters.
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# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
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. ${R}etc/init.d/rc.vehicle_setup
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navigator start
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@ -42,7 +42,6 @@ px4_add_romfs_files(
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rc.fw_apps
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rc.fw_defaults
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rc.heli_defaults
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rc.interface
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rc.logging
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rc.mc_apps
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rc.mc_defaults
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@ -42,8 +42,6 @@ param set-default MC_YAW_P 4
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param set-default MPC_MANTHR_MIN 0
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param set-default MPC_MAN_TILT_MAX 60
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param set-default DSHOT_CONFIG 600
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param set-default SYS_HAS_BARO 0
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param set-default SYS_HAS_MAG 0
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@ -48,13 +48,10 @@ fi
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# End Estimator Group Selection #
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###############################################################################
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if param compare SYS_CTRL_ALLOC 1
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then
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#
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# Start Control Allocator
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#
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control_allocator start
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fi
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start Airship Attitude Controller.
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@ -9,9 +9,3 @@ set VEHICLE_TYPE airship
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# MAV_TYPE_AIRSHIP 7
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param set-default MAV_TYPE 7
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_OUT 1234
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@ -2,7 +2,6 @@
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#
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# External airframe startup script (on SD card)
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#
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set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
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if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
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then
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@ -20,22 +20,3 @@ param set-default NAV_ACC_RAD 2
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# Temporary.
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param set-default NAV_FW_ALT_RAD 1000
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#
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# Enable servo output on pins 3 and 4 (steering and thrust)
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# but also include 1+2 as they form together one output group
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# and need to be set together.
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#
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set PWM_OUT 1234
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#
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# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
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# may damage analog servos.
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#
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set PWM_MAIN_RATE 50
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_OUT 1234
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@ -10,13 +10,10 @@
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#
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ekf2 start &
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if param compare SYS_CTRL_ALLOC 1
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then
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#
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# Start Control Allocator
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#
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control_allocator start
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fi
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start attitude controller.
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@ -52,11 +52,3 @@ param set-default PWM_MAIN_RATE 50
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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param set-default GPS_UBX_DYNMODEL 8
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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@ -1,284 +0,0 @@
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#!/bin/sh
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#
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# Script to configure control interfaces.
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#
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#
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# NOTE: environment variable references:
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# If the dollar sign ('$') is followed by a left bracket ('{') then the
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# variable name is terminated with the right bracket character ('}').
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# Otherwise, the variable name goes to the end of the argument.
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#
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set OUTPUT_CMD pwm_out
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set MIXER_AUX_FILE none
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set MIXER_EXTRA_FILE none
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set OUTPUT_DEV none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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set OUTPUT_EXTRA_DEV /dev/pwm_output0
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# set these before starting the modules
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if [ $PWM_AUX_OUT != none ]
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then
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param set PWM_AUX_OUT ${PWM_AUX_OUT}
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fi
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if [ $PWM_OUT != none ]
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then
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param set PWM_MAIN_OUT ${PWM_OUT}
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fi
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#
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# If mount (gimbal) control is enabled and output mode is AUX, set the aux
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# mixer to mount (override the airframe-specific MIXER_AUX setting).
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#
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if param greater -s MNT_MODE_IN -1
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then
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if param compare -s MNT_MODE_OUT 0
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then
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set MIXER_AUX mount
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fi
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fi
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#
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# Set the default output mode if none was set.
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#
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if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
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then
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if [ $USE_IO = yes ]
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then
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# Enable IO output only if IO is present.
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if [ $IO_PRESENT = yes ]
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then
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set OUTPUT_MODE io
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if param greater -s DSHOT_CONFIG 0
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then
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set OUTPUT_CMD dshot
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fi
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fi
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else
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if param greater -s DSHOT_CONFIG 0
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then
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set OUTPUT_MODE dshot
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set OUTPUT_CMD dshot
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else
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set OUTPUT_MODE pwm_out
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fi
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fi
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fi
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#
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# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
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#
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if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
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then
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if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
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then
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if ! pwm_out_sim start -m $OUTPUT_MODE
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then
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tune_control play error
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fi
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fi
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if [ $OUTPUT_MODE = uavcan_esc ]
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then
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if param compare UAVCAN_ENABLE 0
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then
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param set UAVCAN_ENABLE 3
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fi
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fi
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#
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# Start IO for PWM output or RC input if needed.
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#
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if [ $IO_PRESENT = yes ]
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then
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if ! px4io start
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then
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echo "PX4IO start failed"
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tune_control play -t 18 # PROG_PX4IO_ERR
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fi
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fi
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if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
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then
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if param compare SYS_CTRL_ALLOC 1
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then
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pwm_out start
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dshot start
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else
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if ! $OUTPUT_CMD start
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then
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echo "$OUTPUT_CMD start failed"
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tune_control play error
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fi
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fi
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fi
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fi
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if [ $MIXER != none -a $MIXER != skip ]
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then
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#
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# Load main mixer.
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#
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if [ $MIXER_AUX = none -a $USE_IO = yes ]
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then
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set MIXER_AUX ${MIXER}
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fi
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if [ "$MIXER_FILE" = none ]
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then
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
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then
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# Use the mixer file from the SD-card if it exists.
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
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else
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# Try out the old convention, for backward compatibility.
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
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then
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
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else
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set MIXER_FILE /etc/mixers/${MIXER}.main.mix
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fi
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fi
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fi
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set OUTPUT_DEV /dev/pwm_output0
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if [ $OUTPUT_MODE = uavcan_esc ]
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then
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set OUTPUT_DEV /dev/uavcan/esc
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fi
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if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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else
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if [ $MIXER != skip ]
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then
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echo "ERROR [init] Mixer undefined"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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fi
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if [ $MIXER_AUX != none ]
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then
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#
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# Load aux mixer.
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#
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
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else
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if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
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fi
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fi
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if [ $MIXER_AUX_FILE != none ]
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then
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# Append aux mixer to main device.
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if param greater SYS_HITL 0
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then
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if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
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else
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echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
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fi
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fi
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if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
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then
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if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
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fi
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else
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echo "INFO [init] setting PWM_AUX_OUT none"
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set PWM_AUX_OUT none
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fi
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# for DShot do not configure pwm values
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if [ $OUTPUT_CMD != dshot ]
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then
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# Set min / max for aux out and rates.
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if [ $PWM_AUX_OUT != none ]
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then
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# Set PWM_AUX output frequency.
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if [ $PWM_AUX_RATE != none ]
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then
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pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
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fi
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fi
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fi
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fi
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fi
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if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
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then
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if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
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then
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# Set PWM output frequency.
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if ! param compare SYS_CTRL_ALLOC 1
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then
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pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
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fi
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fi
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fi
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if [ $EXTRA_MIXER_MODE != none ]
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then
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
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then
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# Use the mixer file from the SD-card if it exists.
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
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else
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# Try out the old convention, for backward compatibility.
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
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then
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
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else
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set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
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fi
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fi
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if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
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tune_control play -t 20
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fi
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if [ $PWM_EXTRA_OUT != none ]
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then
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# Set PWM output frequency.
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if [ $PWM_EXTRA_RATE != none ]
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then
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pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
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fi
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fi
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fi
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unset OUTPUT_CMD
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unset MIXER_AUX_FILE
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unset MIXER_EXTRA_FILE
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unset OUTPUT_DEV
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unset OUTPUT_AUX_DEV
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unset OUTPUT_EXTRA_DEV
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|
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@ -48,13 +48,10 @@ fi
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# End Estimator Group Selection #
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###############################################################################
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if param compare SYS_CTRL_ALLOC 1
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then
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#
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# Start Control Allocator
|
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#
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control_allocator start
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fi
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start Multicopter Rate Controller.
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|
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@ -25,14 +25,3 @@ param set-default PWM_MAIN_MIN 1075
|
|||
param set-default PWM_MAIN_RATE 400
|
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param set-default GPS_UBX_DYNMODEL 6
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|
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#
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# This is the gimbal pass mixer.
|
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#
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set MIXER_AUX pass
|
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set MIXER quad_x
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set PWM_OUT 1234
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set PWM_AUX_OUT 1234
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|
|
@ -12,13 +12,10 @@ ekf2 start &
|
|||
#attitude_estimator_q start
|
||||
#local_position_estimator start
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
|
|
|
|||
|
|
@ -21,22 +21,3 @@ param set-default NAV_LOITER_RAD 2
|
|||
|
||||
# Temporary.
|
||||
param set-default NAV_FW_ALT_RAD 1000
|
||||
|
||||
#
|
||||
# Enable servo output on pins 3 and 4 (steering and thrust)
|
||||
# but also include 1+2 as they form together one output group
|
||||
# and need to be set together.
|
||||
#
|
||||
set PWM_OUT 1234
|
||||
|
||||
#
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_OUT 1234
|
||||
|
|
|
|||
|
|
@ -15,13 +15,10 @@ ekf2 start &
|
|||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start UUV Attitude Controller.
|
||||
|
|
|
|||
|
|
@ -13,20 +13,3 @@ param set-default MAV_TYPE 12
|
|||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_MIN 1050
|
||||
param set-default PWM_MAIN_DISARM 1500
|
||||
|
||||
#
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
|
||||
# higher rates may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
|
||||
#
|
||||
# Enable servo output on pins 1-4
|
||||
set PWM_OUT 1234
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_OUT 1234
|
||||
set PWM_AUX_RATE 50
|
||||
|
|
|
|||
|
|
@ -10,14 +10,6 @@
|
|||
#
|
||||
if [ $VEHICLE_TYPE = fw ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "FW mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard fixedwing apps.
|
||||
. ${R}etc/init.d/rc.fw_apps
|
||||
fi
|
||||
|
|
@ -27,14 +19,6 @@ fi
|
|||
#
|
||||
if [ $VEHICLE_TYPE = mc ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "MC mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard multicopter apps.
|
||||
. ${R}etc/init.d/rc.mc_apps
|
||||
fi
|
||||
|
|
@ -44,14 +28,6 @@ fi
|
|||
#
|
||||
if [ $VEHICLE_TYPE = rover ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "rover mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard UGV apps.
|
||||
. ${R}etc/init.d/rc.rover_apps
|
||||
fi
|
||||
|
|
@ -61,14 +37,6 @@ fi
|
|||
#
|
||||
if [ $VEHICLE_TYPE = vtol ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "VTOL mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps.
|
||||
. ${R}etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
|
|
@ -78,14 +46,6 @@ fi
|
|||
#
|
||||
if [ $VEHICLE_TYPE = airship ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "Airship mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start airship apps.
|
||||
. ${R}etc/init.d/rc.airship_apps
|
||||
fi
|
||||
|
|
@ -95,14 +55,6 @@ fi
|
|||
#
|
||||
if [ $VEHICLE_TYPE = uuv ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "UUV mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps.
|
||||
. ${R}etc/init.d/rc.uuv_apps
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -15,13 +15,10 @@ ekf2 start &
|
|||
# End Estimator group selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
airspeed_selector start
|
||||
|
||||
|
|
|
|||
|
|
@ -25,29 +25,14 @@ set FCONFIG /fs/microsd/etc/config.txt
|
|||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 8
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set MIXER_EXTRA none
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE ""
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_AUX_OUT none
|
||||
set PWM_AUX_RATE p:PWM_AUX_RATE
|
||||
set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
#
|
||||
|
|
@ -236,7 +221,7 @@ else
|
|||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
#
|
||||
if param compare SYS_DM_BACKEND 1
|
||||
if param compare -s SYS_DM_BACKEND 1
|
||||
then
|
||||
dataman start -r
|
||||
else
|
||||
|
|
@ -278,13 +263,8 @@ else
|
|||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
if ! uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
|
|
@ -295,22 +275,15 @@ else
|
|||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
# Start IO for PWM output or RC input if enabled
|
||||
#
|
||||
|
||||
if [ -f $IOFW ]
|
||||
if param compare -s SYS_USE_IO 1
|
||||
then
|
||||
# Check for the mini using build with px4io fw file
|
||||
# but not a px4IO
|
||||
if ver hwtypecmp V5004000 V5006000
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
if [ -f $IOFW ]
|
||||
then
|
||||
param set SYS_USE_IO 0
|
||||
else
|
||||
if px4io checkcrc ${IOFW}
|
||||
if ! px4io checkcrc ${IOFW}
|
||||
then
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
# tune Program PX4IO
|
||||
tune_control play -t 16 # tune 16 = PROG_PX4IO
|
||||
|
||||
|
|
@ -321,7 +294,6 @@ else
|
|||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
|
|
@ -330,20 +302,12 @@ else
|
|||
fi
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Set USE_IO flag.
|
||||
#
|
||||
if param compare -s SYS_USE_IO 1
|
||||
then
|
||||
set USE_IO yes
|
||||
fi
|
||||
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if ! px4io start
|
||||
then
|
||||
echo "PX4IO start failed"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
|
|
@ -359,7 +323,11 @@ else
|
|||
#
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
set OUTPUT_MODE hil
|
||||
if ! pwm_out_sim start -m hil
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
sensors start -h
|
||||
commander start -h
|
||||
# disable GPS
|
||||
|
|
@ -397,13 +365,14 @@ else
|
|||
|
||||
sensors start
|
||||
commander start
|
||||
|
||||
dshot start
|
||||
pwm_out start
|
||||
fi
|
||||
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
|
|
@ -435,11 +404,8 @@ else
|
|||
#
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
if [ $IO_PRESENT = no ]
|
||||
then
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
|
||||
# PPS capture driver (before pwm_out)
|
||||
if param greater -s PPS_CAP_ENABLE 0
|
||||
|
|
@ -564,28 +530,15 @@ unset R
|
|||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
unset LOGGER_ARGS
|
||||
unset LOGGER_BUF
|
||||
unset MIXER
|
||||
unset MIXER_AUX
|
||||
unset MIXER_FILE
|
||||
unset OUTPUT_MODE
|
||||
unset PARAM_FILE
|
||||
unset PWM_AUX_OUT
|
||||
unset PWM_AUX_RATE
|
||||
unset PWM_MAIN_RATE
|
||||
unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
unset VEHICLE_TYPE
|
||||
|
||||
#
|
||||
|
|
|
|||
|
|
@ -1,88 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
|
||||
The configuration assumes the aileron servo(s) are connected to PX4FMU servo
|
||||
output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
|
||||
to output 4 and the wheel to output 5.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
|
||||
|
||||
Aileron mixer (roll + spoiler)
|
||||
---------------------------------
|
||||
|
||||
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
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 -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
|
||||
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
|
||||
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
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Wheel mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the wheel 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
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Flaps / gimbal / payload mixer for last three channels,
|
||||
using the payload control group
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 2 2 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,77 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
|
||||
using PX4FMU.
|
||||
The configuration assumes the aileron servos are connected to PX4FMU servo
|
||||
output 0 and 1, the tail servos to output 2 and 3, the throttle
|
||||
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
|
||||
|
||||
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 + spoiler)
|
||||
---------------------------------
|
||||
|
||||
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
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 -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
|
||||
S: 0 2 -7000 -7000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 2 -7000 -7000 0 -10000 10000
|
||||
S: 0 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
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Wheel mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the wheel 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
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Flaps mixer
|
||||
------------
|
||||
Flap servos are physically reversed.
|
||||
|
||||
M: 1
|
||||
S: 0 4 0 5000 -10000 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 4 0 -5000 10000 -10000 10000
|
||||
|
||||
|
|
@ -1,71 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
|
||||
using PX4FMU.
|
||||
The configuration assumes the aileron servos are connected to PX4FMU servo
|
||||
output 0 and 1, the tail servos to output 2 and 3, the throttle
|
||||
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
|
||||
|
||||
Aileron mixer (roll + spoiler)
|
||||
---------------------------------
|
||||
|
||||
This mixer assumes that the aileron servos are set up mechanically reversed.
|
||||
|
||||
M: 2
|
||||
S: 0 0 -10000 -10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 -10000 -10000 0 -10000 10000
|
||||
S: 0 5 -10000 -10000 0 -10000 10000
|
||||
|
||||
V-tail mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
M: 2
|
||||
S: 0 2 7000 7000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 2 7000 7000 0 -10000 10000
|
||||
S: 0 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
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Wheel mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the wheel 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
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Flaps mixer
|
||||
------------
|
||||
Flap servos are physically reversed.
|
||||
|
||||
M: 1
|
||||
S: 0 4 0 5000 -10000 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 4 0 -5000 10000 -10000 10000
|
||||
|
||||
|
|
@ -1,77 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
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
|
||||
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
|
||||
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
|
||||
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
|
||||
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
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,77 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
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), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
|
||||
|
||||
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
|
||||
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
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
CH3: 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
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
CH4: 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
|
||||
S: 0 2 10000 10000 0 -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
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,49 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
|
||||
==================================================
|
||||
|
||||
|
||||
Output 0 - Rear Servo Mixer
|
||||
----------------
|
||||
|
||||
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
|
||||
|
||||
M: 2
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 1 - Left Servo Mixer
|
||||
-----------------
|
||||
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
|
||||
|
||||
M: 3
|
||||
S: 0 3 -10000 -10000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
S: 0 0 8660 8660 0 -10000 10000
|
||||
|
||||
|
||||
Output 2 - Right Servo Mixer
|
||||
----------------
|
||||
Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
|
||||
|
||||
|
||||
M: 3
|
||||
S: 0 3 -10000 -10000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
S: 0 0 -8660 -8660 0 -10000 10000
|
||||
|
||||
Output 3 - Tail Servo Mixer
|
||||
----------------
|
||||
Tail Servo = Yaw (control index = 2)
|
||||
|
||||
M: 1
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 4 - Motor speed mixer
|
||||
-----------------
|
||||
This would be the motor speed control output from governor power demand- not sure what index to use here?
|
||||
|
||||
M: 1
|
||||
S: 0 4 0 20000 -10000 -10000 10000
|
||||
|
|
@ -1,80 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_romfs_files(
|
||||
AAERTWF.main.mix
|
||||
AAVVTWFF.main.mix
|
||||
AAVVTWFF_vtail.main.mix
|
||||
AERT.main.mix
|
||||
AETRFG.main.mix
|
||||
CCPM.main.mix
|
||||
cloudship.main.mix
|
||||
coax.main.mix
|
||||
dodeca_bottom_cox.aux.mix
|
||||
dodeca_top_cox.main.mix
|
||||
fw_generic_wing.main.mix
|
||||
generic_diff_rover.main.mix
|
||||
hexa_cox.main.mix
|
||||
hexa_+.main.mix
|
||||
hexa_x.main.mix
|
||||
IO_pass.main.mix
|
||||
mount.aux.mix
|
||||
mount_legs.aux.mix
|
||||
octo_cox.main.mix
|
||||
octo_cox_w.main.mix
|
||||
octo_+.main.mix
|
||||
octo_x.main.mix
|
||||
pass.aux.mix
|
||||
quad_dc.main.mix
|
||||
quad_h.main.mix
|
||||
quad_+.main.mix
|
||||
quad_+_vtol.main.mix
|
||||
quad_w.main.mix
|
||||
quad_x_cw.main.mix
|
||||
quad_x.main.mix
|
||||
quad_x_vtol.main.mix
|
||||
quad_x_vtol_AAERT.main.mix
|
||||
rover_diff_and_servo.main.mix
|
||||
rover_generic.main.mix
|
||||
standard_vtol_hitl.main.mix
|
||||
tilt_quad.aux.mix
|
||||
tilt_quad.main.mix
|
||||
tri_y_yaw+.main.mix
|
||||
tri_y_yaw-.main.mix
|
||||
vtol_AAERT.aux.mix
|
||||
vtol_AAVVT.aux.mix
|
||||
vtol_TTTTAAER.aux.mix
|
||||
vtol_delta.aux.mix
|
||||
vtol_tailsitter_duo.main.mix
|
||||
vtol_tailsitter_duo_sat.main.mix
|
||||
)
|
||||
|
|
@ -1,31 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
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
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,49 +0,0 @@
|
|||
Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling an airship with
|
||||
a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
|
||||
The configuration assumes the starboard thruster is connected to PX4FMU
|
||||
output 1, port thruster to output 2, tilt servo to output 3, and the
|
||||
tail thruster to output 4.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude),
|
||||
channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
|
||||
|
||||
Starboard and port thruster mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
By default mixer output is normalized. The input is in the (0 - 1) range.
|
||||
|
||||
M: 1
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Servo controlling tilt mixer
|
||||
------------
|
||||
Two scalers total (output, tilt angle).
|
||||
|
||||
This mixer assumes that the tilt 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
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
Tail thruster mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the tail thruster is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the motor movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,30 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Coaxial helicopter mixer
|
||||
- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
|
||||
- No collective pitch.
|
||||
- One motor per rotor.
|
||||
===========================
|
||||
|
||||
Left swashplate servomotor, pitch axis
|
||||
-------------
|
||||
M: 1
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Right swashplate servomotor, roll axis
|
||||
-------------
|
||||
M: 1
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Upper rotor (CCW)
|
||||
Mixing between yaw and thrust
|
||||
-------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Lower rotor (CW)
|
||||
Mixing between yaw and thrust
|
||||
-------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# Dodeca Cox
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 6a
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# Dodeca Cox
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 6m
|
||||
|
|
@ -1,47 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Generic wing mixer
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft.
|
||||
The configuration assumes the elevon servos are connected to servo
|
||||
outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
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.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
S: 0 0 -8000 -8000 0 -10000 10000
|
||||
S: 0 1 6000 6000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 -8000 -8000 0 -10000 10000
|
||||
S: 0 1 -6000 -6000 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
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Generic differential-drive rover
|
||||
===========================
|
||||
|
||||
This mixer is suitable for controlling any differential-drive rover. That is,
|
||||
a rover where the left wheels and right wheels are driven independently,
|
||||
allowing turning in place. It outputs to channels 0 (left wheels) and
|
||||
1 (right wheels)
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
|
||||
Throttle of left wheels of rover on Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Throttle of right wheels of rover on Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Hexa +
|
||||
|
||||
R: 6+
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Hexa coaxial
|
||||
|
||||
R: 6c
|
||||
|
|
@ -1,5 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Hexa X
|
||||
|
||||
R: 6x
|
||||
|
||||
|
|
@ -1,20 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Mount Mixer (e.g. Gimbal, servo-controlled gimbal, etc...)
|
||||
|
||||
|
||||
# pitch
|
||||
M: 1
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
# roll
|
||||
M: 1
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
# yaw
|
||||
M: 1
|
||||
S: 2 2 10000 10000 0 -10000 10000
|
||||
|
||||
# Shutter/retract
|
||||
M: 1
|
||||
S: 2 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
|
@ -1,23 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
|
||||
# Roll channel for mount
|
||||
M: 1
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
# Pitch channel for mount
|
||||
M: 1
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
# Yaw channel for mount
|
||||
M: 1
|
||||
S: 2 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
# mixer for left leg
|
||||
M: 1
|
||||
S: 0 7 0 20000 -10000 -10000 10000
|
||||
|
||||
# mixer for right leg
|
||||
M: 1
|
||||
S: 0 7 0 20000 -10000 -10000 10000
|
||||
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Octo +
|
||||
|
||||
R: 8+
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Octo coaxial
|
||||
|
||||
R: 8c
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# Octo coaxial with wide arms
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 8cw
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Octo X
|
||||
|
||||
R: 8x
|
||||
|
|
@ -1,18 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Manual pass through mixer for servo outputs 1-4
|
||||
|
||||
# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
|
||||
M: 1
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
|
||||
M: 1
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
||||
# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
|
||||
M: 1
|
||||
S: 3 7 10000 10000 0 -10000 10000
|
||||
|
||||
# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
|
||||
M: 1
|
||||
S: 3 4 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Mixer for Tailsitter with + motor configuration and elevons
|
||||
===========================================================
|
||||
|
||||
This file defines a single mixer for tailsitter with motors in X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+
|
||||
|
||||
# mixer for the elevons
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for canard surface
|
||||
M: 1
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for rudder
|
||||
M: 1
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Multirotor mixer
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in DC wide arms configuration. All controls are mixed 100%.
|
||||
|
||||
R: 4dc
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the H configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4h
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
|
||||
|
||||
R: 4w
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
R: 4x
|
||||
|
||||
AUX1 Passthrough
|
||||
M: 1
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
AUX2 Passthrough
|
||||
M: 1
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
||||
Failsafe outputs
|
||||
The following outputs are set to their disarmed value
|
||||
during normal operation and to their failsafe falue in case
|
||||
of flight termination.
|
||||
Z:
|
||||
Z:
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
# Quad X with clock-wise motor assigment
|
||||
|
||||
R: 4xcw
|
||||
|
|
@ -1,19 +0,0 @@
|
|||
Mixer for Tailsitter with x motor configuration and elevons
|
||||
===========================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board omnibus_f4sd exclude
|
||||
|
||||
This file defines a single mixer for tailsitter with motors in X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4x
|
||||
|
||||
# left elevon
|
||||
M: 2
|
||||
S: 1 0 -5000 -5000 0 -10000 10000
|
||||
S: 1 1 5000 5000 0 -10000 10000
|
||||
|
||||
# right elevon
|
||||
M: 2
|
||||
S: 1 0 -5000 -5000 0 -10000 10000
|
||||
S: 1 1 -5000 -5000 0 -10000 10000
|
||||
|
|
@ -1,30 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Mixer for an AAERT VTOL
|
||||
=======================
|
||||
|
||||
R: 4x
|
||||
|
||||
Aileron 1 mixer
|
||||
---------------
|
||||
M: 1
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
|
||||
Aileron 2 mixer
|
||||
---------------
|
||||
M: 1
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
--------------
|
||||
M: 1
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
M: 1
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Throttle mixer
|
||||
--------------
|
||||
M: 1
|
||||
S: 1 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -1,41 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Generic car mixer (eg DF Robot GPX:Asurada RC Car)
|
||||
===========================
|
||||
|
||||
Designed for DF Robot GPX:Asurada
|
||||
|
||||
This file defines mixers suitable for controlling a DF Robot GPX:Asurada rover using
|
||||
PX4FMU. The configuration assumes the steering is connected to PX4FMU
|
||||
servo outputs 1 and the motor speed controls to output 2 and 3. Output 0 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
|
||||
Output 1 - Empty
|
||||
-----------------------------------------
|
||||
Z:
|
||||
|
||||
Output 2 - Steering mixer using yaw
|
||||
------------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000 5000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 3 - Left row of wheels using yaw and throttle (1s rise time)
|
||||
------------------------------------------
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000 10000
|
||||
S: 0 2 -500 -500 0 0 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 4 - Right row of wheels using yaw and throttle (1s rise time)
|
||||
------------------------------------------
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000 10000
|
||||
S: 0 2 500 500 0 0 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,38 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Generic car mixer (eg Traxxas Stampede RC Car)
|
||||
===========================
|
||||
|
||||
Designed for Traxxas Stampede
|
||||
|
||||
This file defines mixers suitable for controlling a Traxxas Stampede rover using
|
||||
PX4FMU. The configuration assumes the steering is connected to PX4FMU
|
||||
servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
|
||||
Output 1: Empty
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 2: Steering mixer using yaw, with 0.5s rise time
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000 5000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 3: Empty
|
||||
---------------------------------------
|
||||
This mixer is empty.
|
||||
Z:
|
||||
|
||||
|
||||
Output 4: Throttle with 2s rise time
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000 20000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,22 +0,0 @@
|
|||
Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
|
||||
=============================================================================
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 4x
|
||||
|
||||
# mixer for the pusher/puller throttle
|
||||
M: 1
|
||||
S: 1 3 0 20000 -10000 -10000 10000
|
||||
|
||||
# mixer for the left aileron
|
||||
M: 1
|
||||
S: 1 0 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for the right aileron
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
# mixer for the elevator
|
||||
M: 1
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
Tilt-Quadrotor mixer for PX4FMU (2/2) V2
|
||||
===========================
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
|
||||
|
||||
# @output AUX1 Outer servo motor for rotor 2 arm
|
||||
# @output AUX2 Outer servo motor for rotor 4 arm
|
||||
# @output AUX3 Inner servo motor for rotor 2 arm
|
||||
# @output AUX4 Inner servo motor for rotor 4 arm
|
||||
|
||||
Servo 1
|
||||
|
||||
M: 1
|
||||
S: 0 1 -1000 -1000 0 -10000 10000
|
||||
|
||||
Servo 2
|
||||
|
||||
M: 1
|
||||
S: 0 1 1000 1000 0 -10000 10000
|
||||
|
||||
Servo 3
|
||||
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
Servo 4
|
||||
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,35 +0,0 @@
|
|||
Tilt-Quadrotor mixer for PX4FMU (1/2) V2
|
||||
===========================
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
|
||||
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
|
||||
Motor 1
|
||||
|
||||
M: 2
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Motor 2
|
||||
|
||||
M: 2
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Motor 3
|
||||
|
||||
M: 2
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Motor 4
|
||||
|
||||
M: 2
|
||||
S: 0 0 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
|
||||
|
||||
# Tricopter Y-Configuration Mixer
|
||||
# Yaw Servo +Output ==> +Yaw Vehicle Rotation
|
||||
|
||||
# Motors
|
||||
R: 3y
|
||||
|
||||
# Yaw Servo
|
||||
M: 1
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
|
||||
|
||||
# Tricopter Y-Configuration Mixer
|
||||
# Yaw Servo +Output ==> -Yaw Vehicle Rotation
|
||||
|
||||
# Motors
|
||||
R: 3y
|
||||
|
||||
# Yaw Servo
|
||||
M: 1
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
Mixer for an AAERT VTOL
|
||||
=======================
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Aileron 1 mixer
|
||||
---------------
|
||||
M: 1
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
|
||||
Aileron 2 mixer
|
||||
---------------
|
||||
M: 1
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
--------------
|
||||
M: 1
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
M: 1
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Throttle mixer
|
||||
--------------
|
||||
M: 1
|
||||
S: 1 3 0 20000 -10000 -10000 10000
|
||||
|
|
@ -1,56 +0,0 @@
|
|||
Aileron/v-tail/throttle VTOL mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
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 + spoiler)
|
||||
---------------------------------
|
||||
|
||||
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
|
||||
S: 1 0 -10000 -10000 0 -10000 10000
|
||||
S: 1 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 1 0 -10000 -10000 0 -10000 10000
|
||||
S: 1 5 -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
|
||||
S: 1 2 -7000 -7000 0 -10000 10000
|
||||
S: 1 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
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
|
||||
S: 1 3 0 20000 -10000 -10000 10000
|
||||
|
||||
|
|
@ -1,41 +0,0 @@
|
|||
# Generic quadplane tiltrotor servo mixer
|
||||
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
# Tilt mechanism servo mixer
|
||||
---------------------------
|
||||
# front left up:2000 down:1000
|
||||
M: 1
|
||||
S: 1 8 0 -20000 10000 -10000 10000
|
||||
|
||||
# front right up:1000 down:2000
|
||||
M: 1
|
||||
S: 1 8 0 20000 -10000 -10000 10000
|
||||
|
||||
# rear left up:2000 down:1000
|
||||
M: 1
|
||||
S: 1 8 0 -20000 10000 -10000 10000
|
||||
|
||||
# rear right up:1000 down:2000
|
||||
M: 1
|
||||
S: 1 8 0 20000 -10000 -10000 10000
|
||||
|
||||
|
||||
# Aileron mixer
|
||||
# ---------------------------------
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
# Elevator mixer
|
||||
# ------------
|
||||
M: 1
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# Rudder mixer
|
||||
# ------------
|
||||
M: 1
|
||||
S: 1 2 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,52 +0,0 @@
|
|||
Delta-wing VTOL mixer
|
||||
=====================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
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
|
||||
S: 1 0 8000 8000 0 -10000 10000
|
||||
S: 1 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 1 0 8000 8000 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
|
||||
S: 1 3 0 20000 -10000 -10000 10000
|
||||
|
||||
|
||||
Reverse thrust (brake) mixer
|
||||
-----------------
|
||||
|
||||
M: 1
|
||||
S: 1 6 0 20000 -10000 -10000 10000
|
||||
|
||||
|
||||
Aux1 mixer
|
||||
-----------------
|
||||
This is actuated on the AUX5 port
|
||||
|
||||
M: 1
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,38 +0,0 @@
|
|||
Tailsitter duo mixer
|
||||
============================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
|
||||
on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
|
||||
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
|
||||
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
|
||||
|
||||
Motor mixer
|
||||
------------
|
||||
Channel 1 connects to the right (starboard) motor.
|
||||
Channel 2 connects to the left (port) motor.
|
||||
|
||||
R: 2-
|
||||
|
||||
Zero mixer (2x)
|
||||
---------------
|
||||
Channels 3,4 are unused.
|
||||
|
||||
Z:
|
||||
|
||||
Z:
|
||||
|
||||
Elevons mixer
|
||||
--------------
|
||||
Channel 5 connects to the right (starboard) elevon.
|
||||
Channel 6 connects to the left (port) elevon.
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
# @board px4_fmu-v2 exclude
|
||||
Tailsitter duo mixer
|
||||
============================
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
|
||||
on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
|
||||
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
|
||||
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
|
||||
|
||||
Motor mixer
|
||||
------------
|
||||
Channel 1 connects to the right (starboard) motor.
|
||||
Channel 2 connects to the left (port) motor.
|
||||
|
||||
R: 2-
|
||||
|
||||
Zero mixer (2x)
|
||||
---------------
|
||||
Channels 3,4 are unused.
|
||||
|
||||
Z:
|
||||
|
||||
Z:
|
||||
|
||||
Elevons mixer
|
||||
--------------
|
||||
Channel 5 connects to the right (starboard) elevon.
|
||||
Channel 6 connects to the left (port) elevon.
|
||||
Here we saturate the elevons before their full range
|
||||
to avoid roll-pitch-yaw coupling during faster maneuvers
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -6000 6000
|
||||
S: 1 1 10000 10000 0 -6000 6000
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -6000 6000
|
||||
S: 1 1 -10000 -10000 0 -6000 6000
|
||||
|
|
@ -32,4 +32,3 @@
|
|||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
add_subdirectory(mixers)
|
||||
|
|
|
|||
|
|
@ -1,96 +0,0 @@
|
|||
Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
|
||||
The configuration assumes the aileron servo(s) are connected to PX4FMU servo
|
||||
output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
|
||||
to output 4 and the wheel to output 5.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
|
||||
|
||||
Aileron mixer (roll + spoiler)
|
||||
---------------------------------
|
||||
|
||||
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: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 -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
|
||||
|
||||
Wheel mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the wheel 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
|
||||
|
||||
|
||||
Flaps / gimbal / payload mixer for last three channels,
|
||||
using the payload control group
|
||||
-----------------------------------------------------
|
||||
|
||||
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: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 2 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,84 +0,0 @@
|
|||
Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
|
||||
=======================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
|
||||
using PX4FMU.
|
||||
The configuration assumes the aileron servos are connected to PX4FMU servo
|
||||
output 0 and 1, the tail servos to output 2 and 3, the throttle
|
||||
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
|
||||
|
||||
Aileron mixer (roll + spoiler)
|
||||
---------------------------------
|
||||
|
||||
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: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 5 -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: 0 2 -7000 -7000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 -7000 -7000 0 -10000 10000
|
||||
S: 0 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: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Wheel mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the wheel 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
|
||||
|
||||
Flaps mixer
|
||||
------------
|
||||
Flap servos are physically reversed.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 0 5000 -10000 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 0 -5000 10000 -10000 10000
|
||||
|
||||
|
|
@ -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
|
||||
|
|
@ -1,81 +0,0 @@
|
|||
Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
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), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear)
|
||||
|
||||
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: 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
|
||||
|
||||
CH4: 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
|
||||
|
||||
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
|
||||
|
|
@ -1,53 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_romfs_files(
|
||||
AAERTWF.main.mix
|
||||
AAVVTWFF.main.mix
|
||||
AERT.main.mix
|
||||
AETRFG.main.mix
|
||||
complex_test.mix
|
||||
hexa_x.main.mix
|
||||
IO_pass.mix
|
||||
octo_x.main.mix
|
||||
pass.aux.mix
|
||||
quad_+.main.mix
|
||||
quad_test.mix
|
||||
quad_+_vtol.main.mix
|
||||
rover_generic.main.mix
|
||||
vtol1_test.mix
|
||||
vtol2_test.mix
|
||||
vtol_AAERT.aux.mix
|
||||
vtol_AAVVT.aux.mix
|
||||
vtol_convergence.main.mix
|
||||
)
|
||||
|
|
@ -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
|
||||
|
|
@ -1,27 +0,0 @@
|
|||
M: 4
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 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
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
# Hexa X
|
||||
|
||||
R: 6x
|
||||
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
# Octo X
|
||||
|
||||
R: 8x
|
||||
|
|
@ -1,21 +0,0 @@
|
|||
# Manual pass through mixer for servo outputs 1-4
|
||||
|
||||
# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
||||
# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 7 10000 10000 0 -10000 10000
|
||||
|
||||
# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 4 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,18 +0,0 @@
|
|||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
Mixer for Tailsitter with + motor configuration and elevons
|
||||
===========================================================
|
||||
|
||||
This file defines a single mixer for tailsitter with motors in X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+
|
||||
|
||||
# mixer for the elevons
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for canard surface
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for rudder
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
Multirotor mixer for TEST
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
|
||||
|
||||
R: 4w
|
||||
|
||||
Gimbal / payload mixer for last four channels
|
||||
-----------------------------------------------------
|
||||
|
||||
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
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
R: 4x
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,37 +0,0 @@
|
|||
Generic car mixer (eg Traxxas Stampede RC Car)
|
||||
===========================
|
||||
|
||||
Designed for Traxxas Stampede
|
||||
|
||||
This file defines mixers suitable for controlling a Traxxas Stampede rover using
|
||||
PX4FMU. The configuration assumes the steering is connected to PX4FMU
|
||||
servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Steering mixer using roll on output 1
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
This mixer is empty.
|
||||
Z:
|
||||
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
# VTOL test mixer
|
||||
|
||||
R: 2-
|
||||
Z:
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
# E-flite Convergence Tricopter Y-Configuration Mixer
|
||||
|
||||
# Motors
|
||||
R: 3y
|
||||
|
||||
Z:
|
||||
|
||||
Tilt mechanism servo mixer
|
||||
---------------------------
|
||||
#RIGHT up:2000 down:1000
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 8 0 -20000 9000 -10000 10000
|
||||
S: 0 2 4000 4000 0 -10000 10000
|
||||
|
||||
#LEFT up:1000 down:2000
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 8 0 20000 -10000 -10000 10000
|
||||
S: 0 2 4000 4000 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
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
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
|
||||
|
|
@ -1,59 +0,0 @@
|
|||
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) 5 (spoiler).
|
||||
|
||||
Aileron mixer (roll + spoiler)
|
||||
---------------------------------
|
||||
|
||||
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 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 5 -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
|
||||
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
# E-flite Convergence Tricopter Y-Configuration Mixer
|
||||
|
||||
# Motors
|
||||
R: 3y
|
||||
|
||||
Z:
|
||||
|
||||
Tilt mechanism servo mixer
|
||||
---------------------------
|
||||
#RIGHT up:2000 down:1000
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 8 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 8 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
|
||||
|
|
@ -105,18 +105,10 @@ def main():
|
|||
# find excluded boards
|
||||
if re.search(r'\b{0} exclude\b'.format(args.board), line):
|
||||
board_excluded = True
|
||||
# handle mixer files differently than startup files
|
||||
if file_path.endswith(".mix"):
|
||||
if line.startswith(("Z:", "M:", "R: ", "O:", "S:",
|
||||
"H:", "T:", "P:", "A:")):
|
||||
# reduce multiple consecutive spaces into a
|
||||
# single space
|
||||
line_reduced = re.sub(' +', ' ', line)
|
||||
pruned_content += line_reduced
|
||||
else:
|
||||
if not line.isspace() \
|
||||
and not line.strip().startswith("#"):
|
||||
pruned_content += line.strip() + "\n"
|
||||
|
||||
if not line.isspace() \
|
||||
and not line.strip().startswith("#"):
|
||||
pruned_content += line.strip() + "\n"
|
||||
# delete the file if it doesn't contain the architecture
|
||||
# write out the pruned content else
|
||||
if not board_excluded:
|
||||
|
|
|
|||
|
|
@ -14,7 +14,7 @@ search_directory="$1"
|
|||
command -v shellcheck >/dev/null 2>&1 || { echo -e >&2 \
|
||||
"Error: shellcheck required but it's not installed. On Ubuntu use:\n sudo apt-get install shellcheck\n\nAborting."; exit 1; }
|
||||
|
||||
scripts="$(find "$search_directory" -type f ! -name '*.txt' ! -name '*.mix' ! -name '*.bin')"
|
||||
scripts="$(find "$search_directory" -type f ! -name '*.txt' ! -name '*.bin')"
|
||||
|
||||
echo "Running shellcheck in '$search_directory'."
|
||||
|
||||
|
|
|
|||
|
|
@ -14,4 +14,6 @@ param set-default SENS_EN_THERMAL 0
|
|||
|
||||
param set-default -s SENS_TEMP_ID 2621474
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
||||
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
|
||||
|
|
|
|||
|
|
@ -13,4 +13,6 @@ param set-default BAT2_A_PER_V 17
|
|||
# Disable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 0
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
||||
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
|
||||
|
|
|
|||
|
|
@ -11,3 +11,5 @@ param set-default BAT2_A_PER_V 36.367515152
|
|||
|
||||
# Enable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
|
|
|||
|
|
@ -9,5 +9,7 @@ param set-default BAT2_V_DIV 18.1
|
|||
param set-default BAT1_A_PER_V 36.367515152
|
||||
param set-default BAT2_A_PER_V 36.367515152
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
||||
rgbled_pwm start
|
||||
safety_button start
|
||||
|
|
|
|||
|
|
@ -5,3 +5,5 @@
|
|||
|
||||
param set-default BAT1_V_DIV 10.177939394
|
||||
param set-default BAT1_A_PER_V 15.391030303
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -5,3 +5,5 @@
|
|||
|
||||
param set-default BAT1_V_DIV 10.177939394
|
||||
param set-default BAT1_A_PER_V 15.391030303
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
|
|
|||
|
|
@ -6,3 +6,4 @@
|
|||
param set-default BAT1_V_DIV 10.177939394
|
||||
param set-default BAT1_A_PER_V 15.391030303
|
||||
|
||||
param set-default SYS_USE_IO 1
|
||||
|
|
|
|||
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Reference in New Issue