From 74b8e31fd8365cd74bf96034721fdd95b707772f Mon Sep 17 00:00:00 2001 From: px4dev Date: Sun, 5 Aug 2012 20:20:46 -0700 Subject: [PATCH] VERY rough mixer definitions for quadrotors in X and + configuration using PX4FMU. --- ROMFS/mixers/FMU_quad+.mix | 54 ++++++++++++++++++++++++++++++++++++++ ROMFS/mixers/FMU_quadX.mix | 54 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 108 insertions(+) create mode 100644 ROMFS/mixers/FMU_quad+.mix create mode 100644 ROMFS/mixers/FMU_quadX.mix diff --git a/ROMFS/mixers/FMU_quad+.mix b/ROMFS/mixers/FMU_quad+.mix new file mode 100644 index 0000000000..1ab38ef6d4 --- /dev/null +++ b/ROMFS/mixers/FMU_quad+.mix @@ -0,0 +1,54 @@ +Quadrotor + mixer for PX4FMU +============================ + +This file defines mixers suitable for controlling a quadrotor in the + +arrangement using PX4FMU. The configuration assumes the motors are connected +starting with the front motor on output 0 and proceeding clockwise. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (yaw) and 3 (thrust). + +See the README for more information on the scaler format. + +Scale values here will definitely need tuning. + +Front +----- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 0 0 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Right +----- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 1000 1000 0 -10000 10000 +S: 0 1 0 0 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Back +---- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 0 0 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Left +---- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 -1000 -1000 0 -10000 10000 +S: 0 1 0 0 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/mixers/FMU_quadX.mix b/ROMFS/mixers/FMU_quadX.mix new file mode 100644 index 0000000000..5a8641fa0b --- /dev/null +++ b/ROMFS/mixers/FMU_quadX.mix @@ -0,0 +1,54 @@ +Quadrotor X mixer for PX4FMU +============================ + +This file defines mixers suitable for controlling a quadrotor in the X +arrangement using PX4FMU. The configuration assumes the motors are connected +starting with the front-right motor on output 0 and proceeding clockwise. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (yaw) and 3 (thrust). + +See the README for more information on the scaler format. + +Scale values here will definitely need tuning. + +Front right +----------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 1000 1000 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Back right +---------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 1000 1000 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Back left +--------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 -1000 -1000 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 +S: 0 2 1000 1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Front left +---------- + +M: 4 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 0 -1000 -1000 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 +S: 0 2 -1000 -1000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 +