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use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4]

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[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-03 15:11:21 +02:00
parent 7e6aa28106
commit 21a2892f47
11 changed files with 25 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
+4 -4
View File
@@ -8,22 +8,22 @@ R: 4x
# tilt servo motor 1
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
# tilt servo motor 2
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
# tilt servo motor 3
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
# tilt servo motor 4
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
ROMFS/px4fmu_common/mixers/claire.aux.mix
+1 -1
View File
@@ -10,7 +10,7 @@ Tilt mechanism servo mixer
M: 1
S: 1 4 10000 10000 0 -10000 10000
S: 1 8 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+1 -1
View File
@@ -6,7 +6,7 @@
Tilt mechanism servo mixer
---------------------------
M: 1
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
Elevon mixers
-------------
ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix
+4 -4
View File
@@ -6,19 +6,19 @@
---------------------------
# front left up:2000 down:1000
M: 1
S: 1 4 0 -20000 10000 -10000 10000
S: 1 8 0 -20000 10000 -10000 10000
# front right up:1000 down:2000
M: 1
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
# rear left up:2000 down:1000
M: 1
S: 1 4 0 -20000 10000 -10000 10000
S: 1 8 0 -20000 10000 -10000 10000
# rear right up:1000 down:2000
M: 1
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
# Aileron mixer
ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
+2 -2
View File
@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
---------------------------
#RIGHT up:2000 down:1000
M: 2
S: 1 4 0 -20000 10000 -10000 10000
S: 1 8 0 -20000 10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
Elevon mixers
ROMFS/px4fmu_test/mixers/vtol2_test.mix
+2 -2
View File
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
#RIGHT up:2000 down:1000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 -20000 9000 -10000 10000
S: 1 8 0 -20000 9000 -10000 10000
S: 0 2 4000 4000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 4000 4000 0 -10000 10000
Elevon mixers
ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
+2 -2
View File
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
#RIGHT up:2000 down:1000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 -20000 10000 -10000 10000
S: 1 8 0 -20000 10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
Elevon mixers