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65 lines
1.6 KiB
65 lines
1.6 KiB
Viper Delta-wing mixer |
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Designed for Viper. |
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TODO (sjwilks): Add mixers for flaps. |
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This file defines mixers suitable for controlling a delta wing aircraft using |
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PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU |
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servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is |
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assumed to be unused. |
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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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See the README for more information on the scaler format. |
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Elevon mixers |
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------------- |
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Three scalers total (output, roll, pitch). |
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On the assumption that the two elevon servos are physically reversed, the pitch |
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input is inverted between the two servos. |
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The scaling factor for roll inputs is adjusted to implement differential travel |
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for the elevons. |
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M: 2 |
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S: 0 0 7500 7500 0 -10000 10000 |
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S: 0 1 8000 8000 0 -10000 10000 |
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M: 2 |
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S: 0 0 7500 7500 0 -10000 10000 |
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S: 0 1 -8000 -8000 0 -10000 10000 |
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Output 2 |
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-------- |
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This mixer is empty. |
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Z: |
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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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S: 0 3 0 20000 -10000 -10000 10000 |
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Inputs to the mixer come from channel group 2 (payload), channels 0 |
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(bay servo 1), 1 (bay servo 2) and 3 (drop release). |
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----------------------------------------------------- |
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M: 1 |
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S: 2 0 10000 10000 0 -10000 10000 |
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M: 1 |
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S: 2 1 10000 10000 0 -10000 10000 |
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M: 1 |
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S: 2 2 -8000 -8000 0 -10000 10000 |
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