New airframe (Flying V) created with MAIN and AUX mixers

ROMFS/px4fmu_common/init.d/airframes/3004_flyingV

+#!/bin/sh
+#
+# @name Flying V
+#
+# @type Standard plane
+# @class Plane
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 rudder 1
+# @output MAIN4 rudder 2
+# @output MAIN5 steering servo 
+# @output MAIN6 elevon left 1
+# @output MAIN7 elevon left 2 
+# @output MAIN8 elevon left 3
+#
+# @output AUX1 brakes
+# @output AUX2 retraction
+# @output AUX3 Airdata trigger
+# @output AUX4 elevon right 1
+# @output AUX5 elevon right 2
+# @output AUX6 elevon right 3
+
+set VEHICLE_TYPE fw
+
+if [ $AUTOCNF = yes ]
+then
+	
+	# Default parameters for fixed wing UAVs.
+	param set COM_POS_FS_DELAY 5
+	param set COM_POS_FS_EPH 25
+	param set COM_POS_FS_EPV 50
+	param set COM_POS_FS_GAIN 0
+	param set COM_POS_FS_PROB 1
+	param set COM_VEL_FS_EVH 5
+
+	# Kalman filter tuning gains
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_GPS_CHECK 21
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+	param set EKF2_REQ_EPH 10
+	param set EKF2_REQ_EPV 10
+	param set EKF2_REQ_HDRIFT 0.5
+	param set EKF2_REQ_SACC 1
+	param set EKF2_REQ_VDRIFT 1.0
+
+	# CHECK! 
+	param set RTL_RETURN_ALT 100
+	param set RTL_DESCEND_ALT 100
+	param set RTL_LAND_DELAY -1
+
+	# FW uses L1 distance for acceptance radius.
+	# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
+	param set NAV_ACC_RAD 10
+
+	# CHECK! 
+	param set MIS_LTRMIN_ALT 25
+	param set MIS_TAKEOFF_ALT 25
+
+
+	# FW takeoff acceleration can easily exceed ublox GPS 2G default.
+	param set GPS_UBX_DYNMODEL 8
+
+	# USER PARAMETERS
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+	param set BAT_N_CELLS 6
+	param set BAT_A_PER_V 65.02386
+	param set BAT_V_DIV 19.12569
+
+	# MAP AUXILIARY PARAMETERS 
+	param set RC_MAP_AUX1 8
+	param set RC_MAP_AUX2 7
+
+fi
+
+# Set MAV_TYPE (1 = std plane)
+set MAV_TYPE 1
+
+set MIXER flyingV
+set MIXER_AUX flyingV
+
+# Set PWM channels
+set PWM_OUT 12345678
+set PWM_AUX_OUT 123456

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -48,6 +48,7 @@ px4_add_romfs_files(
 
 	# [3000, 3999] Flying wing"
 	3000_generic_wing
+	3004_flyingV
 	3030_io_camflyer
 	3031_phantom
 	3032_skywalker_x5

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -50,6 +50,8 @@ px4_add_romfs_files(
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix
 	firefly6.main.mix
+	flyingV.aux.mix
+	flyingV.main.mix
 	fw_generic_wing.main.mix
 	FX79.main.mix
 	generic_differential_rover.main.mix

ROMFS/px4fmu_common/mixers/flyingV.aux.mix

+# Flying V 
+
+#aux1: Brakes (manual passthrough)
+M: 1
+S: 3 5 10000  10000 	  0 -10000  10000
+
+#aux2: Landing gear retraction (manual passthrough)
+M: 1
+S: 3 6 10000  10000      0 -10000  10000
+
+#aux3: Trigger for Airdata probe (manual passthrough)
+M: 1
+S: 3 7 10000 10000 	  0 -10000 10000
+
+#aux4: Elevator (R) 1R
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+#aux5: Mid CS (R)
+M: 2
+S: 0 1  -10000  -10000      0 -10000  10000
+S: 0 0  8000  8000      0 -10000  10000
+
+#aux6: Aileron (R)
+M: 1
+S: 0 0  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/flyingV.main.mix

+# Flying V
+
+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.
+
+#main1: ESC 1 (L)
+M: 1
+S: 0 3      0    20000 -10000 -10000  10000
+
+#main2: ESC 2 (R)
+M: 1
+S: 0 3      0   20000 -10000 -10000  10000
+
+Rudder mixer 
+--------------
+
+#main3: Rud (L)
+M: 1
+S: 0 2  5000  5000      0 -10000  10000
+
+#main4: Rud (R)
+M: 1
+S: 0 2  5000  5000      0 -10000  10000
+
+#main5: Steering servo (rudder channel)
+M: 1
+S: 0 2 10000  10000      0 -10000  10000
+
+Elevons
+------------
+#main6: Elevator (L) 1L
+M: 1
+S: 0 1  -10000  -10000      0 -10000  10000
+
+#main7: Mid CS (L) 
+M: 2
+S: 0 1  -10000  -10000      0 -10000  10000
+S: 0 0  -8000  -8000      0 -10000  10000
+
+#main8: Aileron (L) 3L 
+M: 1
+S: 0 0  -10000  -10000      0 -10000  10000
+