You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
40 lines
1.2 KiB
40 lines
1.2 KiB
10 years ago
|
Delta-wing VTOL mixer
|
||
|
|
=====================
|
||
|
|
|
||
|
|
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
|
||
|
|
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||
|
|
AUX servo outputs 0 and 1 and the motor speed control to output 2.
|
||
|
|
|
||
|
|
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||
|
|
(roll), 1 (pitch) and 3 (thrust).
|
||
|
|
|
||
|
|
See the README for more information on the scaler format.
|
||
|
|
|
||
|
|
Elevon mixers
|
||
|
|
-------------
|
||
|
|
Three scalers total (output, roll, pitch).
|
||
|
|
|
||
|
|
On the assumption that the two elevon servos are physically reversed, the pitch
|
||
|
|
input is inverted between the two servos.
|
||
|
|
|
||
|
|
M: 2
|
||
|
|
O: 10000 10000 0 -10000 10000
|
||
|
|
S: 1 0 -6000 -6000 0 -10000 10000
|
||
|
|
S: 1 1 6500 6500 0 -10000 10000
|
||
|
|
|
||
|
|
M: 2
|
||
|
|
O: 10000 10000 0 -10000 10000
|
||
|
|
S: 1 0 -6000 -6000 0 -10000 10000
|
||
|
|
S: 1 1 -6500 -6500 0 -10000 10000
|
||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
M: 1
|
||
|
|
O: 10000 10000 0 -10000 10000
|
||
|
|
S: 1 3 0 20000 -10000 -10000 10000
|