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consolidate standard plane configurations

sbg
Daniel Agar 8 years ago committed by Lorenz Meier
parent
585984fa0c
commit
8ff40d8048
12 changed files with 25 additions and 461 deletions
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  1. 18
      ROMFS/px4fmu_common/init.d/2100_mpx_easystar
  2. 11
      ROMFS/px4fmu_common/init.d/2100_standard_plane
  3. 23
      ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
  4. 24
      ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
  5. 30
      ROMFS/px4fmu_common/init.d/2104_fw_AETR
  6. 81
      ROMFS/px4fmu_common/mixers/AERT.main.mix
  7. 77
      ROMFS/px4fmu_common/mixers/AET.main.mix
  8. 36
      ROMFS/px4fmu_common/mixers/AETRFG.main.mix
  9. 38
      ROMFS/px4fmu_common/mixers/IO_pass.mix
  10. 53
      ROMFS/px4fmu_common/mixers/RET.main.mix
  11. 31
      ROMFS/px4fmu_common/mixers/easystar.main.mix
  12. 64
      ROMFS/px4fmu_common/mixers/skywalker.main.mix

18
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
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@ -1,18 +0,0 @@ @@ -1,18 +0,0 @@
#!nsh
#
# @name Multiplex Easystar
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 rudder
# @output MAIN4 throttle
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
set MIXER easystar

11
ROMFS/px4fmu_common/init.d/2101_fw_AERT → ROMFS/px4fmu_common/init.d/2100_standard_plane
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
#!nsh
#
# @name Standard AERT Plane
# @name Standard Plane
#
# @type Standard Plane
# @class Plane
@ -21,7 +21,10 @@ @@ -21,7 +21,10 @@
sh /etc/init.d/rc.fw_defaults
set MIXER AERT
set MIXER AETRFG
# use PWM parameters for throttle channel
set PWM_OUT 4
set PWM_RATE 50
set PWM_AUX_RATE 50
# rate must be set by group (see pwm info)
# throttle is in the same group as servos

23
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
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@ -1,23 +0,0 @@ @@ -1,23 +0,0 @@
#!nsh
#
# @name Skywalker (3DR Aero)
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN4 rudder
# @output MAIN3 throttle
# @output MAIN5 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
set MIXER skywalker

24
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
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@ -1,24 +0,0 @@ @@ -1,24 +0,0 @@
#!nsh
#
# @name Skyhunter 1800
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 EMPTY
# @output MAIN4 throttle
# @output MAIN5 flaps
# @output MAIN6 gear
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
set MIXER AET

30
ROMFS/px4fmu_common/init.d/2104_fw_AETR
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@ -1,30 +0,0 @@ @@ -1,30 +0,0 @@
#!nsh
#
# @name Standard AETR Plane
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 throttle
# @output MAIN4 rudder
# @output MAIN5 flaps
# @output MAIN6 gear
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
set MIXER AETR
# use PWM parameters for throttle channel
set PWM_OUT 3
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX

81
ROMFS/px4fmu_common/mixers/AERT.main.mix
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@ -1,81 +0,0 @@ @@ -1,81 +0,0 @@
Aileron/rudder/elevator/throttle mixer for PX4FMU
==================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
elevator to output 1, the rudder to output 2 and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
CH1: Aileron mixer
-------------
Two scalers total (output, roll).
This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
As there is only one output, if using two servos adjustments to compensate for
differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
CH2: Elevator mixer
------------
Two scalers total (output, roll).
This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH3: Rudder mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
CH4: 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: 0 3 0 20000 -10000 -10000 10000
CH5: Flaps mixer
------------
Flaps are controlled automatically in position control and auto
but can also be controlled manually
M: 1
O: 5000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
Ch6: Landing gear mixer
------------
By default pass-through of gear switch
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

77
ROMFS/px4fmu_common/mixers/AET.main.mix
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@ -1,77 +0,0 @@ @@ -1,77 +0,0 @@
Aileron/elevator/throttle mixer for PX4FMU
==================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, elevator and throttle controls using PX4FMU. The configuration assumes
the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
output 1 and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
CH1: Aileron mixer
-------------
Two scalers total (output, roll).
This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
As there is only one output, if using two servos adjustments to compensate for
differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
Alternatively, output 2 could be used as a second aileron servo output with
separate mixing.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
CH2: Elevator mixer
------------
Two scalers total (output, roll).
This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH3: Output 2
--------
This mixer is empty.
Z:
CH4: 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: 0 3 0 20000 -10000 -10000 10000
CH5: Flaps mixer
------------
Flaps are controlled automatically in position control and auto
but can also be controlled manually
M: 1
O: 5000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
Ch6: Landing gear mixer
------------
By default pass-through of gear switch
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

36
ROMFS/px4fmu_common/mixers/AETR.main.mix → ROMFS/px4fmu_common/mixers/AETRFG.main.mix
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@ -1,13 +1,13 @@ @@ -1,13 +1,13 @@
Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
Aileron/Elevator/Throttle/Rudder/Gear/Flaps mixer
==================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
elevator to output 1, the throttle to output 2 and the rudder to output 3.
aileron, rudder, elevator, throttle, gear, flaps controls. The configuration
assumes the aileron servo(s) are connected to output 0, the elevator to
output 1, the throttle to output 2 and the rudder to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
(roll), 1 (pitch), 2 (yaw), 3 (thrust), 4 (flaps), 7 (landing gear)
CH1: Aileron mixer
-------------
@ -23,8 +23,8 @@ differences between the servos must be made mechanically. To obtain the correct @@ -23,8 +23,8 @@ differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
CH2: Elevator mixer
------------
@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and @@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH3: Motor speed mixer
-----------------
@ -47,8 +47,8 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) @@ -47,8 +47,8 @@ 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: 0 3 0 20000 -10000 -10000 10000
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
CH4: Rudder mixer
------------
@ -60,8 +60,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and @@ -60,8 +60,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
CH5: Flaps mixer
------------
@ -69,13 +69,13 @@ Flaps are controlled automatically in position control and auto @@ -69,13 +69,13 @@ Flaps are controlled automatically in position control and auto
but can also be controlled manually
M: 1
O: 5000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
O: 5000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
Ch6: Landing gear mixer
CH6: Landing gear mixer
------------
By default pass-through of gear switch
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

38
ROMFS/px4fmu_common/mixers/IO_pass.mix
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@ -1,38 +0,0 @@ @@ -1,38 +0,0 @@
Passthrough mixer for PX4IO
============================
This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-7 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

53
ROMFS/px4fmu_common/mixers/RET.main.mix
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@ -1,53 +0,0 @@ @@ -1,53 +0,0 @@
Rudder/elevator/throttle mixer for PX4FMU
=========================================
This file defines mixers suitable for controlling a fixed wing aircraft with
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
Rudder mixer
------------
Two scalers total (output, roll).
This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Elevator mixer
------------
Two scalers total (output, roll).
This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
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: 0 3 0 20000 -10000 -10000 10000

31
ROMFS/px4fmu_common/mixers/easystar.main.mix
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@ -1,31 +0,0 @@ @@ -1,31 +0,0 @@
EASYSTAR / EASYSTAR II MIXER
============================
Aileron mixer
-------------
One output - would be easy to add support for 2 servos
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Elevator mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Rudder mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
Motor speed mixer
-----------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

64
ROMFS/px4fmu_common/mixers/skywalker.main.mix
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@ -1,64 +0,0 @@ @@ -1,64 +0,0 @@
Mixer for Skywalker Airframe
==================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
elevator to output 1, the rudder to output 2 and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
Aileron mixer
-------------
Two scalers total (output, roll).
This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
As there is only one output, if using two servos adjustments to compensate for
differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
Elevator mixer
------------
Two scalers total (output, roll).
This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Rudder mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 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: 0 3 0 20000 -10000 -10000 10000
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