From 6798aee13a5bb885966960cdba6ab57b14278ab0 Mon Sep 17 00:00:00 2001 From: Trent Lukaczyk Date: Thu, 5 Feb 2015 20:18:34 -0800 Subject: [PATCH] tricopter initial commit 2 --- Firmware | 1 + ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ | 14 ++++++++++++++ ROMFS/px4fmu_common/init.d/14002_tri_y_yaw- | 15 +++++++++++++++ ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix | 12 ++++++++++++ ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix | 13 +++++++++++++ 5 files changed, 55 insertions(+) create mode 120000 Firmware create mode 100644 ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ create mode 100644 ROMFS/px4fmu_common/init.d/14002_tri_y_yaw- create mode 100644 ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix create mode 100644 ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix diff --git a/Firmware b/Firmware new file mode 120000 index 0000000000..8463fb52fd --- /dev/null +++ b/Firmware @@ -0,0 +1 @@ +/home/trent/bigdata/Dropbox/Research-cloud/Projects/PX4/Firmware/ \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ new file mode 100644 index 0000000000..257e2f9bbd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ @@ -0,0 +1,14 @@ +#!nsh +# +# Generic Tricopter Y Geometry +# Yaw Servo +Output ==> +Yaw +# +# Trent Lukaczyk +# + +sh /etc/init.d/rc.mc_defaults + +set MIXER tri_y_yaw+ + +set PWM_OUT 1234 + diff --git a/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw- b/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw- new file mode 100644 index 0000000000..66eb5e9673 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw- @@ -0,0 +1,15 @@ +#!nsh +# +# Generic Tricopter Y Geometry +# Yaw Servo +Output ==> -Yaw +# +# Trent Lukaczyk +# + +sh /etc/init.d/rc.mc_defaults + +set MIXER tri_y_yaw- + +set PWM_OUT 1234 + + diff --git a/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix b/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix new file mode 100644 index 0000000000..5aaa6c2012 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix @@ -0,0 +1,12 @@ + + +# Tricopter Y-Configuration Mixer +# Yaw Servo +Output ==> +Yaw + +# Motors +R: 3y 10000 10000 10000 0 + +# Yaw Servo +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix b/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix new file mode 100644 index 0000000000..b4e2e859c5 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix @@ -0,0 +1,13 @@ + + +# Tricopter Y-Configuration Mixer +# Yaw Servo +Output ==> -Yaw + +# Motors +R: 3y 10000 10000 10000 0 + +# Yaw Servo +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 +