forked from Archive/PX4-Autopilot
40 lines
1.1 KiB
Plaintext
40 lines
1.1 KiB
Plaintext
Caipirinha tailsitter mixer
|
|
============================
|
|
|
|
This file defines a mixer for the 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 ouput 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- 10000 10000 10000 0
|
|
|
|
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
|
|
O: 7500 7500 0 -10000 10000
|
|
S: 1 0 10000 10000 0 -10000 10000
|
|
S: 1 1 10000 10000 0 -10000 10000
|
|
|
|
M: 2
|
|
O: 7500 7500 0 -10000 10000
|
|
S: 1 0 10000 10000 0 -10000 10000
|
|
S: 1 1 -10000 -10000 0 -10000 10000
|