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Commit c9d17967 authored by Beat Küng's avatar Beat Küng
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simple mixer: make output scalers O: optional and use default values instead 

Reduces FLASH usage by about 4KB

Command to replace:
for i in *.mix; do sed -r -i '/O: +10000 +10000 +0 +-10000 +10000/d' $i; done
parent a9275d6c
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ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
+ 0
− 9
View file @ c9d17967
......@@ -19,12 +19,10 @@ 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
......@@ -38,7 +36,6 @@ 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
......@@ -51,7 +48,6 @@ 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
......@@ -62,7 +58,6 @@ 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
......@@ -75,7 +70,6 @@ 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
......@@ -84,13 +78,10 @@ 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_common/mixers/AAVVTWFF.main.mix
+ 0
− 8
View file @ c9d17967
......@@ -20,12 +20,10 @@ 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
......@@ -37,12 +35,10 @@ 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
......@@ -54,7 +50,6 @@ 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
......@@ -67,7 +62,6 @@ 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
......@@ -75,10 +69,8 @@ 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_common/mixers/AERT.main.mix
+ 0
− 5
View file @ c9d17967
......@@ -23,7 +23,6 @@ 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
......@@ -36,7 +35,6 @@ 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
......@@ -49,7 +47,6 @@ 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
......@@ -60,7 +57,6 @@ 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
......@@ -77,5 +73,4 @@ 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_common/mixers/AETRFG.main.mix
+ 0
− 5
View file @ c9d17967
......@@ -23,7 +23,6 @@ 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
......@@ -36,7 +35,6 @@ 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
......@@ -47,7 +45,6 @@ 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
......@@ -60,7 +57,6 @@ 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
......@@ -77,5 +73,4 @@ 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_common/mixers/CCPM.main.mix
+ 0
− 5
View file @ c9d17967
......@@ -8,7 +8,6 @@ Output 0 - Rear Servo Mixer
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
M: 2
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
......@@ -18,7 +17,6 @@ Output 1 - Left Servo Mixer
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
M: 3
O: 10000 10000 0 -10000 10000
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 8660 8660 0 -10000 10000
......@@ -30,7 +28,6 @@ Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Ail
M: 3
O: 10000 10000 0 -10000 10000
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 -8660 -8660 0 -10000 10000
......@@ -40,7 +37,6 @@ Output 3 - Tail Servo Mixer
Tail Servo = Yaw (control index = 2)
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
......@@ -49,5 +45,4 @@ Output 4 - Motor speed mixer
This would be the motor speed control output from governor power demand- not sure what index to use here?
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/FMU_pass.mix
+ 0
− 4
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......@@ -6,18 +6,14 @@ This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-3 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/FX79.main.mix
+ 0
− 3
View file @ c9d17967
......@@ -26,12 +26,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8500 8500 0 -10000 10000
S: 0 1 9500 9500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8500 8500 0 -10000 10000
S: 0 1 -9500 -9500 0 -10000 10000
......@@ -49,5 +47,4 @@ 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
ROMFS/px4fmu_common/mixers/IO_pass.main.mix
+ 0
− 8
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......@@ -6,33 +6,25 @@ This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-7 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
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: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/Viper.main.mix
+ 0
− 6
View file @ c9d17967
......@@ -26,12 +26,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
......@@ -49,7 +47,6 @@ 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
Inputs to the mixer come from channel group 2 (payload), channels 0
......@@ -57,15 +54,12 @@ Inputs to the mixer come from channel group 2 (payload), channels 0
-----------------------------------------------------
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 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 -8000 -8000 0 -10000 10000
ROMFS/px4fmu_common/mixers/blade130.main.mix
+ 0
− 1
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......@@ -12,5 +12,4 @@ S: 220 13054 10000 0 -8000 8000
# Tail servo:
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/caipi.main.mix
+ 0
− 3
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......@@ -24,12 +24,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 9000 9000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 -9000 -9000 0 -10000 10000
......@@ -47,5 +45,4 @@ 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
ROMFS/px4fmu_common/mixers/claire.aux.mix
+ 0
− 3
View file @ c9d17967
......@@ -9,7 +9,6 @@ Tilt mechanism servo mixer
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 10000 10000 0 -10000 10000
......@@ -21,11 +20,9 @@ Elevon mixers
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 7500 7500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -7500 -7500 0 -10000 10000
ROMFS/px4fmu_common/mixers/coax.main.mix
+ 0
− 4
View file @ c9d17967
......@@ -7,20 +7,17 @@ Coaxial helicopter mixer
Left swashplate servomotor, pitch axis
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Right swashplate servomotor, roll axis
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Upper rotor (CCW)
Mixing between yaw and thrust
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
......@@ -28,6 +25,5 @@ Lower rotor (CW)
Mixing between yaw and thrust
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/delta.main.mix
+ 0
− 3
View file @ c9d17967
......@@ -22,12 +22,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 3000 5000 0 -10000 10000
S: 0 1 5000 5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 3000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
......@@ -45,5 +43,4 @@ 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
ROMFS/px4fmu_common/mixers/deltaquad.main.mix
+ 0
− 4
View file @ c9d17967
......@@ -18,7 +18,6 @@ input is inverted between the two servos.
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
......@@ -26,7 +25,6 @@ S: 1 1 8000 8000 0 -10000 10000
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
......@@ -39,12 +37,10 @@ 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
8: Reverse thrust (brake) mixer
-----------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 6 0 20000 -9000 -10000 10000
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+ 0
− 4
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......@@ -4,23 +4,19 @@
Tilt mechanism servo mixer
---------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -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
Landing gear mixer
------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
+ 0
− 3
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......@@ -22,12 +22,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 6000 6000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 -6000 -6000 0 -10000 10000
......@@ -45,5 +43,4 @@ 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
ROMFS/px4fmu_common/mixers/mount.aux.mix
+ 0
− 4
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......@@ -3,21 +3,17 @@
# pitch
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
# roll
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
# yaw
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
# Shutter/retract
M: 1
O: 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+ 0
− 5
View file @ c9d17967
# Roll channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
# Pitch channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
# Yaw channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
# mixer for left leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 0 20000 -10000 -10000 10000
# mixer for right leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/pass.aux.mix
+ 0
− 4
View file @ c9d17967
......@@ -2,20 +2,16 @@
# 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
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