forked from Archive/PX4-Autopilot
68 lines
1.8 KiB
Plaintext
68 lines
1.8 KiB
Plaintext
Phantom FX-61 mixer
|
|
===================
|
|
|
|
This file defines mixers suitable for controlling a delta wing aircraft using
|
|
PX4/Pixhawk. 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 are set so that pitch will have more travel than roll.
|
|
|
|
M: 2
|
|
O: 10000 10000 0 -10000 10000
|
|
S: 0 0 -6000 -6000 0 -10000 10000
|
|
S: 0 1 6500 6500 0 -10000 10000
|
|
|
|
M: 2
|
|
O: 10000 10000 0 -10000 10000
|
|
S: 0 0 -6000 -6000 0 -10000 10000
|
|
S: 0 1 -6500 -6500 0 -10000 10000
|
|
|
|
Output 2
|
|
--------
|
|
This mixer is empty.
|
|
|
|
Z:
|
|
|
|
Motor speed mixer
|
|
-----------------
|
|
Two scalers total (output, thrust).
|
|
|
|
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
|
range. Inputs below zero are treated as zero.
|
|
|
|
M: 1
|
|
O: 10000 10000 0 -10000 10000
|
|
S: 0 3 0 20000 -10000 -10000 10000
|
|
|
|
Gimbal / flaps / 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
|