From 40b732b3366db18efb7a8365746c869feca8c843 Mon Sep 17 00:00:00 2001 From: Duncan Greer Date: Sat, 18 May 2013 20:07:01 +1000 Subject: [PATCH 1/6] Added CCPM mixer --- ROMFS/px4fmu_common/mixers/FMU_CCPM.mix | 53 +++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 ROMFS/px4fmu_common/mixers/FMU_CCPM.mix diff --git a/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix new file mode 100644 index 0000000000..8ac1626c7b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix @@ -0,0 +1,53 @@ +Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU +================================================== + + +Output 0 - Rear Servo Mixer +---------------- + +Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1) + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + + +Output 1 - Left Servo Mixer +----------------- +Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0) + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 8660 8660 0 -10000 10000 + + +Output 2 - Right Servo Mixer +---------------- +Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0) + + +M: 3 +O: 10000 10000 0 -10000 10000 +S: 0 3 -10000 -10000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 -8660 -8660 0 -10000 10000 + +Output 3 - Tail Servo Mixer +---------------- +Tail Servo = Yaw (control index = 2) + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + + +Output 4 - Motor speed mixer +----------------- +This would be the governor output - not sure what group id to use here? + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 0 20000 -10000 -10000 10000 From eab8f9b28608f7f91641442e833b2324710147d9 Mon Sep 17 00:00:00 2001 From: Duncan Greer Date: Sat, 18 May 2013 20:12:08 +1000 Subject: [PATCH 2/6] changed control index for speed controller output from 5 to 4 --- ROMFS/px4fmu_common/mixers/FMU_CCPM.mix | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix index 8ac1626c7b..1c45b3e59f 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix @@ -46,8 +46,8 @@ S: 0 2 10000 10000 0 -10000 10000 Output 4 - Motor speed mixer ----------------- -This would be the governor output - not sure what group id to use here? +This would be the motor speed control output from governor power demand- not sure what index to use here? M: 1 O: 10000 10000 0 -10000 10000 -S: 0 5 0 20000 -10000 -10000 10000 +S: 0 4 0 20000 -10000 -10000 10000 From fdb897c3dd5561a1d9f22b35ec049e50d526d08b Mon Sep 17 00:00:00 2001 From: Duncan Greer Date: Mon, 20 May 2013 17:41:42 +1000 Subject: [PATCH 3/6] enable usb console --- nuttx/configs/px4fmu/nsh/defconfig | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 02e2243020..94d99112e2 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -248,7 +248,7 @@ CONFIG_SERIAL_TERMIOS=y CONFIG_SERIAL_CONSOLE_REINIT=y CONFIG_STANDARD_SERIAL=y -CONFIG_USART1_SERIAL_CONSOLE=y +CONFIG_USART1_SERIAL_CONSOLE=n CONFIG_USART2_SERIAL_CONSOLE=n CONFIG_USART3_SERIAL_CONSOLE=n CONFIG_UART4_SERIAL_CONSOLE=n @@ -561,7 +561,7 @@ CONFIG_START_MONTH=1 CONFIG_START_DAY=1 CONFIG_GREGORIAN_TIME=n CONFIG_JULIAN_TIME=n -CONFIG_DEV_CONSOLE=y +CONFIG_DEV_CONSOLE=n CONFIG_DEV_LOWCONSOLE=n CONFIG_MUTEX_TYPES=n CONFIG_PRIORITY_INHERITANCE=y @@ -925,7 +925,7 @@ CONFIG_USBDEV_TRACE_NRECORDS=512 # Size of the serial receive/transmit buffers. Default 256. # CONFIG_CDCACM=y -CONFIG_CDCACM_CONSOLE=n +CONFIG_CDCACM_CONSOLE=y #CONFIG_CDCACM_EP0MAXPACKET CONFIG_CDCACM_EPINTIN=1 #CONFIG_CDCACM_EPINTIN_FSSIZE From fa403956ed6ef1a345ee06c25500c937a78dd7cd Mon Sep 17 00:00:00 2001 From: Duncan Greer Date: Mon, 20 May 2013 17:41:59 +1000 Subject: [PATCH 4/6] change default rc channel mapping --- src/modules/uORB/topics/rc_channels.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 9dd54df915..9df29ed34d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -64,9 +64,9 @@ */ enum RC_CHANNELS_FUNCTION { - THROTTLE = 0, - ROLL = 1, - PITCH = 2, + THROTTLE = 2, + ROLL = 0, + PITCH = 1, YAW = 3, OVERRIDE = 4, AUTO_MODE = 5, From 2db1422fa7cb400f45eddfdae622c7f84c883acb Mon Sep 17 00:00:00 2001 From: Duncan Greer Date: Tue, 21 May 2013 19:16:49 +1000 Subject: [PATCH 5/6] Revert "change default rc channel mapping" This reverts commit fa403956ed6ef1a345ee06c25500c937a78dd7cd. --- src/modules/uORB/topics/rc_channels.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 9df29ed34d..9dd54df915 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -64,9 +64,9 @@ */ enum RC_CHANNELS_FUNCTION { - THROTTLE = 2, - ROLL = 0, - PITCH = 1, + THROTTLE = 0, + ROLL = 1, + PITCH = 2, YAW = 3, OVERRIDE = 4, AUTO_MODE = 5, From 7469b9c7006fd2bd3f56416045d4d8a86b92a384 Mon Sep 17 00:00:00 2001 From: Duncan Greer Date: Tue, 21 May 2013 19:18:59 +1000 Subject: [PATCH 6/6] Revert "enable usb console" - shouldn't be in pull request branch. This reverts commit fdb897c3dd5561a1d9f22b35ec049e50d526d08b. --- nuttx/configs/px4fmu/nsh/defconfig | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 94d99112e2..02e2243020 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -248,7 +248,7 @@ CONFIG_SERIAL_TERMIOS=y CONFIG_SERIAL_CONSOLE_REINIT=y CONFIG_STANDARD_SERIAL=y -CONFIG_USART1_SERIAL_CONSOLE=n +CONFIG_USART1_SERIAL_CONSOLE=y CONFIG_USART2_SERIAL_CONSOLE=n CONFIG_USART3_SERIAL_CONSOLE=n CONFIG_UART4_SERIAL_CONSOLE=n @@ -561,7 +561,7 @@ CONFIG_START_MONTH=1 CONFIG_START_DAY=1 CONFIG_GREGORIAN_TIME=n CONFIG_JULIAN_TIME=n -CONFIG_DEV_CONSOLE=n +CONFIG_DEV_CONSOLE=y CONFIG_DEV_LOWCONSOLE=n CONFIG_MUTEX_TYPES=n CONFIG_PRIORITY_INHERITANCE=y @@ -925,7 +925,7 @@ CONFIG_USBDEV_TRACE_NRECORDS=512 # Size of the serial receive/transmit buffers. Default 256. # CONFIG_CDCACM=y -CONFIG_CDCACM_CONSOLE=y +CONFIG_CDCACM_CONSOLE=n #CONFIG_CDCACM_EP0MAXPACKET CONFIG_CDCACM_EPINTIN=1 #CONFIG_CDCACM_EPINTIN_FSSIZE