forked from Archive/PX4-Autopilot
40 lines
806 B
Plaintext
40 lines
806 B
Plaintext
# BabyShark VTOL mixer for PX4FMU
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# 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right
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# 5-8 (main): quad motors
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#=============================
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# @board px4_fmu-v2 exclude
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Aileron mixer (roll)
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---------------------------------
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M: 1
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S: 1 0 -10000 -10000 0 -10000 10000
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A-tail mixer right
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------------------
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M: 2
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S: 1 2 -7000 -7000 0 -10000 10000
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S: 1 1 8000 8000 0 -10000 10000
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Motor speed mixer
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-----------------
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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S: 1 3 0 20000 -10000 -10000 10000
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A-tail mixer left
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-----------------
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M: 2
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S: 1 2 -7000 -7000 0 -10000 10000
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S: 1 1 -8000 -8000 0 -10000 10000
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Quad motors 1 - 4
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-----------------
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R: 4x
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