px4fmu_test update mixers

ROMFS/px4fmu_test/mixers/AAERTWF.main.mix

+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

ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix

+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
+

ROMFS/px4fmu_test/mixers/AERT.main.mix

+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

ROMFS/px4fmu_test/mixers/AETRFG.main.mix

+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

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
 	)

ROMFS/px4fmu_test/mixers/hexa_x.main.mix

+# Hexa X
+
+R: 6x 10000 10000 10000 0
+

ROMFS/px4fmu_test/mixers/octo_x.main.mix

+# Octo X
+
+R: 8x 10000 10000 10000 0

ROMFS/px4fmu_test/mixers/pass.aux.mix

+# 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

ROMFS/px4fmu_test/mixers/quad_+.main.mix

+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

ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix

+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

ROMFS/px4fmu_test/mixers/ugv_generic.main.mix

+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

ROMFS/px4fmu_test/mixers/uuv_quad_x.mix

-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

ROMFS/px4fmu_test/mixers/vtol_AAERT.aux.mix

+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

ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix

+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
+

ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix

+# 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