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55 lines
1.0 KiB
55 lines
1.0 KiB
Aileron/rudder/elevator/throttle mixer for PX4FMU |
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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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