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