From 2903e350a74348653fa370dec3747c4dba02bd40 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 8 Jun 2015 14:45:48 +0200 Subject: [PATCH] Caipi: Fix mixer and reverse params --- ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha | 2 ++ ROMFS/px4fmu_common/mixers/caipi.main.mix | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index d984035675..1fd96d6d3d 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -30,6 +30,8 @@ then param set FW_RR_IMAX 0.2 param set FW_RR_P 0.04 param set SYS_COMPANION 157600 + param set PWM_MAIN_REV0 1 + param set PWM_MAIN_REV1 1 fi set MIXER caipi diff --git a/ROMFS/px4fmu_common/mixers/caipi.main.mix b/ROMFS/px4fmu_common/mixers/caipi.main.mix index e9d730449a..af053deab4 100644 --- a/ROMFS/px4fmu_common/mixers/caipi.main.mix +++ b/ROMFS/px4fmu_common/mixers/caipi.main.mix @@ -24,12 +24,12 @@ The scaling factor for roll inputs is adjusted to implement differential travel for the elevons. M: 2 -O: 10000 10000 -3000 -10000 10000 +O: 10000 10000 3000 -10000 10000 S: 0 0 8000 8000 0 -10000 10000 S: 0 1 9000 9000 0 -10000 10000 M: 2 -O: 10000 10000 3000 -10000 10000 +O: 10000 10000 -3000 -10000 10000 S: 0 0 8000 8000 0 -10000 10000 S: 0 1 -9000 -9000 0 -10000 10000