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53 lines
1.6 KiB
53 lines
1.6 KiB
Rudder/elevator/throttle mixer for PX4FMU |
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This file defines mixers suitable for controlling a fixed wing aircraft with |
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rudder, elevator and throttle controls using PX4FMU. The configuration assumes |
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the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 |
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and the throttle to output 3. |
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 |
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(roll), 1 (pitch) and 3 (thrust). |
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Rudder mixer |
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------------ |
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Two scalers total (output, roll). |
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This mixer assumes that the rudder servo is set up correctly mechanically; |
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depending on the actual configuration it may be necessary to reverse the scaling |
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factors (to reverse the servo movement) and adjust the offset, scaling and |
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endpoints to suit. |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 0 0 10000 10000 0 -10000 10000 |
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Elevator mixer |
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------------ |
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Two scalers total (output, roll). |
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This mixer assumes that the elevator servo is set up correctly mechanically; |
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depending on the actual configuration it may be necessary to reverse the scaling |
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factors (to reverse the servo movement) and adjust the offset, scaling and |
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endpoints to suit. |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 0 1 -10000 -10000 0 -10000 10000 |
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Output 2 |
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-------- |
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This mixer is empty. |
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Z: |
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Motor speed mixer |
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----------------- |
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Two scalers total (output, thrust). |
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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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O: 10000 10000 0 -10000 10000 |
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S: 0 3 0 20000 -10000 -10000 10000
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