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px4_autopilot/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix

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Airframe and mixer for rover DF Robot GPX:Asurada (#14244) Added Airframe and mixer for rover DF Robot GPX:Asurada Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Lorenz Meier <lorenz@px4.io>
5 years ago
Generic car mixer (eg DF Robot GPX:Asurada RC Car)
===========================
Designed for DF Robot GPX:Asurada
This file defines mixers suitable for controlling a DF Robot GPX:Asurada rover using
PX4FMU. The configuration assumes the steering is connected to PX4FMU
servo outputs 1 and the motor speed controls to output 2 and 3. Output 0 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), 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
Rover Airframe 50004_dfrobot_gpx_asurada: Changing of physical parameter - the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup. - in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly - the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
5 years ago
S: 0 2 10000 10000 0 -10000 10000
Airframe and mixer for rover DF Robot GPX:Asurada (#14244) Added Airframe and mixer for rover DF Robot GPX:Asurada Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Lorenz Meier <lorenz@px4.io>
5 years ago
Output 2
------------------------------------------
M: 2
Rover Airframe 50004_dfrobot_gpx_asurada: Changing of physical parameter - the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup. - in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly - the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
5 years ago
S: 0 2 -500 -500 0 0 10000
Airframe and mixer for rover DF Robot GPX:Asurada (#14244) Added Airframe and mixer for rover DF Robot GPX:Asurada Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Lorenz Meier <lorenz@px4.io>
5 years ago
S: 0 3 10000 10000 0 -10000 10000
Output 3
------------------------------------------
M: 2
Rover Airframe 50004_dfrobot_gpx_asurada: Changing of physical parameter - the values of the parameters GND_MAX_ANG and GND_WHEEL_BASE are outdated. They belonged to another Rover setup. - in the mixer file rover_diff_and_servo.main.mix the steering was controlled by roll, but in PX4 rover steering is controlled by yaw. And this was the reason why the attitude control did not work correctly - the DF Robot GPX:Asurada rover has actual a steering angle of 60 degrees. And and wheel base of 0.17m. Parameter values in the airframe file are changed to this values
5 years ago
S: 0 2 500 500 0 0 10000
Airframe and mixer for rover DF Robot GPX:Asurada (#14244) Added Airframe and mixer for rover DF Robot GPX:Asurada Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Lorenz Meier <lorenz@px4.io>
5 years ago
S: 0 3 10000 10000 0 -10000 10000