forked from Archive/PX4-Autopilot
77 lines
2.2 KiB
Plaintext
77 lines
2.2 KiB
Plaintext
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 + flaperon)
|
|
---------------------------------
|
|
|
|
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 6 10000 10000 0 -10000 10000
|
|
|
|
M: 2
|
|
S: 0 0 10000 10000 0 -10000 10000
|
|
S: 0 6 -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
|
|
|