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.
51 lines
1.4 KiB
51 lines
1.4 KiB
Delta-wing mixer for PX4FMU |
|
=========================== |
|
|
|
Lines in this file that begin with a capital letter and a colon are interpreted |
|
as mixer commands. All other lines are ignored. |
|
|
|
This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo |
|
outputs 0 and 1 and the motor speed control to output 2. Output 3 is assumed to |
|
be unused. |
|
|
|
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. |
|
|
|
The scaling factor for roll inputs is adjusted to implement differential travel |
|
for the elevons. |
|
|
|
M: 3 |
|
S: 0 0 10000 10000 0 -10000 10000 |
|
S: 0 0 3000 5000 0 -10000 10000 |
|
S: 0 1 5000 5000 0 -10000 10000 |
|
|
|
M: 3 |
|
S: 0 0 10000 10000 0 -10000 10000 |
|
S: 0 0 5000 3000 0 -10000 10000 |
|
S: 0 1 -5000 -5000 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: 2 |
|
S: 0 0 10000 10000 0 -10000 10000 |
|
S: 0 2 0 20000 -10000 -10000 10000 |
|
|
|
|
|
We leave the fourth mixer empty. |
|
|
|
M: 0
|
|
|