forked from Archive/PX4-Autopilot
41 lines
816 B
Plaintext
41 lines
816 B
Plaintext
TF-G2 autogyro mixer
|
|
==================================================
|
|
# @board px4_fmu-v2 exclude
|
|
|
|
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
|
(roll), 1 (pitch) and 3 (thrust).
|
|
|
|
CH1: empty - fixing cuav nano jittering of 1st output.
|
|
Z:
|
|
|
|
|
|
CH2, 3: rotor-head mixer
|
|
-------------
|
|
Two scalers total (output, roll).
|
|
|
|
M: 2
|
|
O: 10000 10000 0 -10000 10000
|
|
S: 0 0 -10000 -10000 0 -10000 10000
|
|
S: 0 1 10000 10000 0 -10000 10000
|
|
|
|
M: 2
|
|
O: 10000 10000 0 -10000 10000
|
|
S: 0 0 -10000 -10000 0 -10000 10000
|
|
S: 0 1 -10000 -10000 0 -10000 10000
|
|
|
|
|
|
CH4: Rudder mixer
|
|
------------
|
|
Two scalers total (output, yaw).
|
|
|
|
M: 1
|
|
S: 0 2 10000 10000 0 -10000 10000
|
|
|
|
|
|
CH5: Motor speed mixer
|
|
-----------------
|
|
Two scalers total (output, thrust).
|
|
|
|
M: 1
|
|
S: 0 3 0 20000 -10000 -10000 10000
|