From 95f17d56690de74af07f4a355a25360fe11be877 Mon Sep 17 00:00:00 2001 From: Daniel Agar <daniel@agar.ca> Date: Mon, 9 Apr 2018 01:54:01 -0400 Subject: [PATCH] px4fmu_test update mixers --- ROMFS/px4fmu_test/mixers/AAERTWF.main.mix | 96 +++++++++++++++++++ ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix | 84 ++++++++++++++++ ROMFS/px4fmu_test/mixers/AERT.main.mix | 81 ++++++++++++++++ ROMFS/px4fmu_test/mixers/AETRFG.main.mix | 81 ++++++++++++++++ ROMFS/px4fmu_test/mixers/CMakeLists.txt | 14 ++- ROMFS/px4fmu_test/mixers/hexa_x.main.mix | 4 + ROMFS/px4fmu_test/mixers/octo_x.main.mix | 3 + ROMFS/px4fmu_test/mixers/pass.aux.mix | 21 ++++ ROMFS/px4fmu_test/mixers/quad_+.main.mix | 18 ++++ ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix | 28 ++++++ ROMFS/px4fmu_test/mixers/ugv_generic.main.mix | 37 +++++++ ROMFS/px4fmu_test/mixers/uuv_quad_x.mix | 24 ----- ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix | 32 +++++++ ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix | 59 ++++++++++++ .../mixers/vtol_convergence.main.mix | 32 +++++++ 15 files changed, 589 insertions(+), 25 deletions(-) create mode 100644 ROMFS/px4fmu_test/mixers/AAERTWF.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/AERT.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/AETRFG.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/hexa_x.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/octo_x.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/pass.aux.mix create mode 100644 ROMFS/px4fmu_test/mixers/quad_+.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix create mode 100644 ROMFS/px4fmu_test/mixers/ugv_generic.main.mix delete mode 100644 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix create mode 100644 ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix create mode 100644 ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix create mode 100644 ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix diff --git a/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix b/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix new file mode 100644 index 0000000000..2d6cf285f0 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/AAERTWF.main.mix @@ -0,0 +1,96 @@ +Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU +======================================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU. +The configuration assumes the aileron servo(s) are connected to PX4FMU servo +output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle +to output 4 and the wheel to output 5. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps). + +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 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 6 -10000 -10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator 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 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder 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 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 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 +O: 10000 10000 0 -10000 10000 +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 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + + +Flaps / gimbal / payload mixer for last three channels, +using the payload control group +----------------------------------------------------- + +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: 2 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 2 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix b/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix new file mode 100644 index 0000000000..e6520862d7 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix @@ -0,0 +1,84 @@ +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 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +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 +O: 10000 10000 0 -10000 10000 +S: 0 2 -7000 -7000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +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 +O: 10000 10000 0 -10000 10000 +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 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 + +Flaps mixer +------------ +Flap servos are physically reversed. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 0 5000 -10000 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 0 -5000 10000 -10000 10000 + diff --git a/ROMFS/px4fmu_test/mixers/AERT.main.mix b/ROMFS/px4fmu_test/mixers/AERT.main.mix new file mode 100644 index 0000000000..975d520081 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/AERT.main.mix @@ -0,0 +1,81 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +CH1: Aileron mixer +------------- +Two scalers total (output, roll). + +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. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +CH2: Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator 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 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +CH3: Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder 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 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +CH4: 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 + +CH5: Flaps mixer +------------ +Flaps are controlled automatically in position control and auto +but can also be controlled manually + +M: 1 +O: 5000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +Ch6: Landing gear mixer +------------ +By default pass-through of gear switch + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 \ No newline at end of file diff --git a/ROMFS/px4fmu_test/mixers/AETRFG.main.mix b/ROMFS/px4fmu_test/mixers/AETRFG.main.mix new file mode 100644 index 0000000000..47de4ed3e0 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/AETRFG.main.mix @@ -0,0 +1,81 @@ +Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator, throttle, gear, flaps controls. The configuration +assumes the aileron servo(s) are connected to output 0, the elevator to +output 1, the throttle to output 2 and the rudder to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (thrust), 3 (yaw), 4 (flaps), 7 (landing gear) + +CH1: Aileron mixer +------------- +Two scalers total (output, roll). + +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. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +CH2: Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator 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 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +CH3: 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 + +CH4: Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder 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 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +CH5: Flaps mixer +------------ +Flaps are controlled automatically in position control and auto +but can also be controlled manually + +M: 1 +O: 5000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +CH6: Landing gear mixer +------------ +By default pass-through of gear switch + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/CMakeLists.txt b/ROMFS/px4fmu_test/mixers/CMakeLists.txt index bd28750793..f5d6d2de30 100644 --- a/ROMFS/px4fmu_test/mixers/CMakeLists.txt +++ b/ROMFS/px4fmu_test/mixers/CMakeLists.txt @@ -32,10 +32,22 @@ ############################################################################ px4_add_romfs_files( + AAERTWF.main.mix + AAVVTWFF.main.mix + AERT.main.mix + AETRFG.main.mix complex_test.mix + hexa_x.main.mix IO_pass.mix + octo_x.main.mix + pass.aux.mix + quad_+.main.mix quad_test.mix - uuv_quad_x.mix + quad_+_vtol.main.mix + ugv_generic.main.mix vtol1_test.mix vtol2_test.mix + vtol_AAERT.aux.mix + vtol_AAVVT.aux.mix + vtol_convergence.main.mix ) diff --git a/ROMFS/px4fmu_test/mixers/hexa_x.main.mix b/ROMFS/px4fmu_test/mixers/hexa_x.main.mix new file mode 100644 index 0000000000..0011fbcfb4 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/hexa_x.main.mix @@ -0,0 +1,4 @@ +# Hexa X + +R: 6x 10000 10000 10000 0 + diff --git a/ROMFS/px4fmu_test/mixers/octo_x.main.mix b/ROMFS/px4fmu_test/mixers/octo_x.main.mix new file mode 100644 index 0000000000..c9a348aa42 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/octo_x.main.mix @@ -0,0 +1,3 @@ +# Octo X + +R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_test/mixers/pass.aux.mix b/ROMFS/px4fmu_test/mixers/pass.aux.mix new file mode 100644 index 0000000000..8e7011f0ed --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/pass.aux.mix @@ -0,0 +1,21 @@ +# Manual pass through mixer for servo outputs 1-4 + +# AUX1 channel (select RC channel with RC_MAP_AUX1 param) +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 + +# AUX2 channel (select RC channel with RC_MAP_AUX2 param) +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 6 10000 10000 0 -10000 10000 + +# AUX3 channel (select RC channel with RC_MAP_AUX3 param) +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 7 10000 10000 0 -10000 10000 + +# FLAPS channel (select RC channel with RC_MAP_FLAPS param) +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 4 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/quad_+.main.mix b/ROMFS/px4fmu_test/mixers/quad_+.main.mix new file mode 100644 index 0000000000..0c582e8772 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/quad_+.main.mix @@ -0,0 +1,18 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the + configuration. All controls +are mixed 100%. + +R: 4+ 10000 10000 10000 0 + +Gimbal / payload mixer for last two channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 3 6 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix b/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix new file mode 100644 index 0000000000..3021221d80 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix @@ -0,0 +1,28 @@ +Mixer for Tailsitter with + motor configuration and elevons +=========================================================== + +This file defines a single mixer for tailsitter with motors in X configuration. All controls +are mixed 100%. + +R: 4+ 10000 10000 10000 0 + +# mixer for the elevons +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 1 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 1 -10000 -10000 0 -10000 10000 + +# mixer for canard surface +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 1 -10000 -10000 0 -10000 10000 + +# mixer for rudder +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 2 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/ugv_generic.main.mix b/ROMFS/px4fmu_test/mixers/ugv_generic.main.mix new file mode 100644 index 0000000000..aacfef1f5b --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/ugv_generic.main.mix @@ -0,0 +1,37 @@ +Generic car mixer (eg Traxxas Stampede RC Car) +=========================== + +Designed for Traxxas Stampede + +This file defines mixers suitable for controlling a Traxxas Stampede rover using +PX4FMU. The configuration assumes the steering is connected to PX4FMU +servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust). + +See the README for more information on the scaler format. + + +Output 0 +--------------------------------------- +Z: + +Steering mixer using roll on output 1 +--------------------------------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + + +Output 2 +--------------------------------------- +This mixer is empty. +Z: + + +Output 3 +--------------------------------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/uuv_quad_x.mix b/ROMFS/px4fmu_test/mixers/uuv_quad_x.mix deleted file mode 100644 index 9f808e5b6b..0000000000 --- a/ROMFS/px4fmu_test/mixers/uuv_quad_x.mix +++ /dev/null @@ -1,24 +0,0 @@ -M: 4 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 -S: 0 2 +10000 +10000 0 -10000 10000 -S: 0 3 +10000 +10000 0 -10000 10000 -M: 4 -O: 10000 10000 0 -10000 10000 -S: 0 0 +10000 +10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 -S: 0 2 -10000 -10000 0 -10000 10000 -S: 0 3 +10000 +10000 0 -10000 10000 -M: 4 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 -S: 0 1 +10000 +10000 0 -10000 10000 -S: 0 2 -10000 -10000 0 -10000 10000 -S: 0 3 +10000 +10000 0 -10000 10000 -M: 4 -O: 10000 10000 0 -10000 10000 -S: 0 0 +10000 +10000 0 -10000 10000 -S: 0 1 +10000 +10000 0 -10000 10000 -S: 0 2 +10000 +10000 0 -10000 10000 -S: 0 3 +10000 +10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix b/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix new file mode 100644 index 0000000000..f3e9c42354 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix @@ -0,0 +1,32 @@ +Mixer for an AAERT VTOL +======================= + +Aileron 1 mixer +--------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 0 -7500 -7500 0 -10000 10000 + +Aileron 2 mixer +--------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 0 -7500 -7500 0 -10000 10000 + +Elevator mixer +-------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 1 10000 10000 0 -10000 10000 + +Rudder mixer +------------ +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 2 -10000 -10000 0 -10000 10000 + +Throttle mixer +-------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix b/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix new file mode 100644 index 0000000000..86581585c2 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix @@ -0,0 +1,59 @@ +Aileron/v-tail/throttle VTOL mixer for PX4FMU +======================================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, v-tail (rudder, elevator) and throttle using PX4FMU. +The configuration assumes the aileron servos are connected to PX4FMU +AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle +to output 4. + +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 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 6 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 +S: 1 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 +O: 10000 10000 0 -10000 10000 +S: 1 2 -7000 -7000 0 -10000 10000 +S: 1 1 -8000 -8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 2 -7000 -7000 0 -10000 10000 +S: 1 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 +O: 10000 10000 0 -10000 10000 +S: 1 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix b/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix new file mode 100644 index 0000000000..38afd90189 --- /dev/null +++ b/ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix @@ -0,0 +1,32 @@ +# E-flite Convergence Tricopter Y-Configuration Mixer + +# Motors +R: 3y 10000 10000 10000 0 + +Z: + +Tilt mechanism servo mixer +--------------------------- +#RIGHT up:2000 down:1000 +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 4 0 -20000 10000 -10000 10000 +S: 0 2 8000 8000 0 -10000 10000 + +#LEFT up:1000 down:2000 +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 4 0 20000 -10000 -10000 10000 +S: 0 2 8000 8000 0 -10000 10000 + +Elevon mixers +------------- +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 1 -8000 -8000 0 -10000 10000 -- GitLab