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84 lines
2.5 KiB
84 lines
2.5 KiB
Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU |
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This file defines mixers suitable for controlling a fixed wing aircraft with |
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aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps |
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using PX4FMU. |
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The configuration assumes the aileron servos are connected to PX4FMU servo |
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output 0 and 1, the tail servos to output 2 and 3, the throttle |
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to output 4, the wheel to output 5 and the flaps to output 6 and 7. |
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 |
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon). |
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Aileron mixer (roll + flaperon) |
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--------------------------------- |
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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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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 6 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 6 -10000 -10000 0 -10000 10000 |
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V-tail 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 tail servos are physically reversed, the pitch |
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input is inverted between the two servos. |
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M: 2 |
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O: 10000 10000 0 -10000 10000 |
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S: 0 2 -7000 -7000 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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O: 10000 10000 0 -10000 10000 |
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S: 0 2 -7000 -7000 0 -10000 10000 |
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S: 0 1 8000 8000 0 -10000 10000 |
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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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O: 10000 10000 0 -10000 10000 |
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S: 0 3 0 20000 -10000 -10000 10000 |
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Wheel mixer |
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------------ |
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Two scalers total (output, yaw). |
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This mixer assumes that the wheel 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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Flaps mixer |
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------------ |
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Flap servos are physically reversed. |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 0 4 0 5000 -10000 -10000 10000 |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 0 4 0 -5000 10000 -10000 10000 |
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