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56 lines
0 B
56 lines
0 B
5 years ago
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Aileron/rudder/elevator/throttle mixer for PX4FMU
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==================================================
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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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CH1, 2: rotor-head mixer
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-------------
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Two scalers total (output, roll).
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M: 2
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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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S: 0 1 10000 10000 0 -10000 10000
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M: 2
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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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S: 0 1 -10000 -10000 0 -10000 10000
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CH3: Elevator, prerotator mixer
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------------
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Two scalers total (output, roll).
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M: 1
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O: 7500 7500 0 -10000 10000
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S: 3 6 10000 10000 0 -10000 10000
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CH4, 5: Rudder mixer
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------------
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Two scalers total (output, yaw).
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M: 1
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S: 0 2 10000 10000 0 -10000 10000
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M: 1
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S: 0 2 -10000 -10000 0 -10000 10000
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CH4: Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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M: 1
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S: 0 3 0 20000 -10000 -10000 10000
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CH3: Wheel mixer
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------------
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Two scalers total (output, yaw).
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M: 1
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S: 0 2 10000 10000 0 -10000 10000
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