fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 11:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #3143 from PX4/takeoff_landing

Browse Source 
Takeoff landing
This commit is contained in:
Lorenz Meier
2015-11-18 12:42:36 +01:00
parent 090fef8ea3 3c1c2ba34e
commit 2e632cb84a
38 changed files with 2086 additions and 119 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/2101_fw_AERT
+5 -3
View File
@@ -6,8 +6,8 @@
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN4 rudder
# @output MAIN3 throttle
# @output MAIN3 rudder
# @output MAIN4 throttle
# @output MAIN5 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
@@ -21,6 +21,8 @@ sh /etc/init.d/rc.fw_defaults
set MIXER AERT
# The ESC requires a specific pulse to arm.
# use PWM parameters for throttle channel
set PWM_OUT 4
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
ROMFS/px4fmu_common/init.d/2104_fw_AETR
+3 -1
View File
@@ -21,6 +21,8 @@ sh /etc/init.d/rc.fw_defaults
set MIXER AETR
# The ESC requires a specific pulse to arm.
# use PWM parameters for throttle channel
set PWM_OUT 3
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
ROMFS/px4fmu_common/init.d/2105_maja
+50
View File
@@ -0,0 +1,50 @@
#!nsh
#
# @name Bormatec Maja
#
# @type Standard Plane
#
# @output MAIN1 aileron
# @output MAIN2 aileron
# @output MAIN3 elevator
# @output MAIN4 rudder
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi
set MIXER AAERTWF
# use PWM parameters for throttle channel
set PWM_OUT 5
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
ROMFS/px4fmu_common/init.d/2106_albatross
+51
View File
@@ -0,0 +1,51 @@
#!nsh
#
# @name Applied Aeronautics Albatross
#
# @type Standard Plane
#
# @output MAIN1 aileron right
# @output MAIN2 aileron left
# @output MAIN3 v-tail right
# @output MAIN4 v-tail left
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps right
# @output MAIN8 flaps left
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi
set MIXER AAVVTWFF
# use PWM parameters for throttle channel
set PWM_OUT 5
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
+96
View File
@@ -0,0 +1,96 @@
Aileron/rudder/elevator/throttle/wheel/flaps mixer for PX4FMU
=======================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
The configuration assumes the aileron servo(s) are connected to PX4FMU servo
output 0 and 1, the elevator to output 2, the rudder to output 3, the throttle
to output 4 and the wheel to output 5.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
Aileron mixer (roll + flaperon)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
Elevator mixer
------------
Two scalers total (output, roll).
This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Rudder mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Wheel mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the wheel servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Flaps / gimbal / payload mixer for last three channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
+84
View File
@@ -0,0 +1,84 @@
Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
=======================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
using PX4FMU.
The configuration assumes the aileron servos are connected to PX4FMU servo
output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
Aileron mixer (roll + flaperon)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
V-tail mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two tail servos are physically reversed, the pitch
input is inverted between the two servos.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -7000 -7000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -7000 -7000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Wheel mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the wheel servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
Flaps mixer
------------
Flap servos are physically reversed.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 0 5000 -10000 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 0 -5000 10000 -10000 10000