mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 21:47:34 +08:00
Add tap-v1 config
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,18 @@
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#!nsh
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#
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# @name Generic Quadrotor X config
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#
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# @type Quadrotor x
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER quad_x
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set PWM_OUT 1234
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@@ -0,0 +1,19 @@
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#!nsh
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#
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# @name Generic Hexarotor x geometry
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#
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# @type Hexarotor x
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Anton Babushkin <anton@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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set MIXER hexa_x
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# Need to set all 8 channels
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set PWM_OUT 12345678
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@@ -0,0 +1,20 @@
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#!nsh
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#
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# Standard apps for fixed wing
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#
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#
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# Start the attitude and position estimator
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#
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ekf2 start
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#
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# Start attitude controller
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#
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fw_att_control start
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fw_pos_control_l1 start
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#
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# Start Land Detector
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#
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land_detector start fixedwing
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@@ -0,0 +1,28 @@
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#!nsh
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set VEHICLE_TYPE fw
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if [ $AUTOCNF == yes ]
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then
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#
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# Default parameters for FW
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#
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param set RTL_RETURN_ALT 100
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param set RTL_DESCEND_ALT 100
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param set RTL_LAND_DELAY -1
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param set NAV_ACC_RAD 50
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param set PE_VELNE_NOISE 0.3
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param set PE_VELD_NOISE 0.35
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param set PE_POSNE_NOISE 0.5
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param set PE_POSD_NOISE 1.0
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fi
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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set PWM_AUX_DISARMED 1500
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set PWM_AUX_MIN 1000
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set PWM_AUX_MAX 2000
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@@ -0,0 +1,83 @@
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#!nsh
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#
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# Script to configure control interface
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#
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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if [ $MIXER != none -a $MIXER != skip ]
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then
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#
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# Load main mixer
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#
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# Use the mixer file
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set MIXER_FILE /etc/mixers/$MIXER.main.mix
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set OUTPUT_DEV /dev/pwm_output0
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if [ $OUTPUT_MODE == uavcan_esc ]
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then
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set OUTPUT_DEV /dev/uavcan/esc
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fi
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if mixer load $OUTPUT_DEV $MIXER_FILE
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then
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echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
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else
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echo "ERROR [init] Error loading mixer: $MIXER_FILE"
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echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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unset MIXER_FILE
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else
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if [ $MIXER != skip ]
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then
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echo "ERROR [init] Mixer not defined"
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echo "ERROR [init] Mixer not defined" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
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then
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if [ $PWM_OUT != none ]
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then
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#
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# Set PWM output frequency
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#
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if [ $PWM_RATE != none ]
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then
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pwm rate -c $PWM_OUT -r $PWM_RATE
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fi
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#
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# Set disarmed, min and max PWM values
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#
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if [ $PWM_DISARMED != none ]
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then
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pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
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fi
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if [ $PWM_MIN != none ]
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then
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pwm min -c $PWM_OUT -p $PWM_MIN
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fi
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if [ $PWM_MAX != none ]
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then
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pwm max -c $PWM_OUT -p $PWM_MAX
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fi
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fi
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if [ $FAILSAFE != none ]
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then
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pwm failsafe -d $OUTPUT_DEV $FAILSAFE
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fi
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fi
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unset PWM_OUT
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unset PWM_RATE
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unset PWM_MIN
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unset PWM_MAX
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unset FAILSAFE
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unset OUTPUT_DEV
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@@ -0,0 +1,39 @@
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#!nsh
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#
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# Standard apps for multirotors:
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# att & pos estimator, att & pos control.
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#
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#---------------------------------------
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# Estimator group selction
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#
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# INAV
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if param compare SYS_MC_EST_GROUP 0
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then
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attitude_estimator_q start
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position_estimator_inav start
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fi
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# LPE
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if param compare SYS_MC_EST_GROUP 1
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then
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attitude_estimator_q start
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local_position_estimator start
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fi
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# EKF
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if param compare SYS_MC_EST_GROUP 2
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then
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ekf2 start
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fi
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#---------------------------------------
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mc_att_control start
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mc_pos_control start
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#
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# Start Land Detector
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#
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land_detector start multicopter
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@@ -0,0 +1,49 @@
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#!nsh
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set VEHICLE_TYPE mc
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if [ $AUTOCNF == yes ]
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then
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param set PE_VELNE_NOISE 0.5
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param set PE_VELD_NOISE 0.35
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param set PE_POSNE_NOISE 0.5
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param set PE_POSD_NOISE 1.25
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param set NAV_ACC_RAD 2.0
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set PWM_DISARMED 900
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param set PWM_MIN 1075
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param set PWM_MAX 1950
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param set RTL_LAND_DELAY 0
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fi
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# set environment variables (!= parameters)
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set PWM_RATE 400
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# tell the mixer to use parameters for these instead
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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set PWM_AUX_DISARMED 1500
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set PWM_AUX_MIN 1000
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set PWM_AUX_MAX 2000
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# Transitional support: ensure suitable PWM min/max param values
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if param compare PWM_MIN 1000
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then
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param set PWM_MIN 1075
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fi
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if param compare PWM_MAX 2000
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then
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param set PWM_MAX 1950
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fi
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if param compare PWM_DISARMED 0
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then
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param set PWM_DISARMED 900
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fi
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@@ -0,0 +1,46 @@
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#!nsh
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#
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# Standard startup script for TAP v1 onboard sensor drivers.
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#
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if adc start
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then
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fi
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# External I2C bus
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if hmc5883 -C -T -X start
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then
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fi
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if lis3mdl -R 2 start
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then
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fi
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# Internal SPI bus is rotated 90 deg yaw
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if hmc5883 -C -T -S -R 2 start
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then
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fi
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
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if mpu6000 -R 2 -T 20608 start
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then
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fi
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# Internal SPI bus mpu9250 is rotated 90 deg yaw
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if mpu9250 -R 2 start
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then
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fi
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if meas_airspeed start
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then
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fi
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if sf10a start
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then
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fi
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# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
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usleep 20000
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if sensors start
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then
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fi
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@@ -0,0 +1,44 @@
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#!nsh
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#
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# Standard apps for vtol:
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# att & pos estimator, att & pos control.
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#
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#
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#---------------------------------------
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# Estimator group selction
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#
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# INAV
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if param compare SYS_MC_EST_GROUP 0
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then
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attitude_estimator_q start
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position_estimator_inav start
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fi
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# LPE
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if param compare SYS_MC_EST_GROUP 1
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then
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attitude_estimator_q start
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local_position_estimator start
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fi
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# EKF
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if param compare SYS_MC_EST_GROUP 2
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then
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ekf2 start
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fi
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#---------------------------------------
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vtol_att_control start
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mc_att_control start
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mc_pos_control start
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fw_att_control start
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fw_pos_control_l1 start
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#
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# Start Land Detector
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# Multicopter for now until we have something for VTOL
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#
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land_detector start vtol
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@@ -0,0 +1,49 @@
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#!nsh
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set VEHICLE_TYPE vtol
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 6.0
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param set MC_PITCH_P 6.0
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param set MC_YAW_P 4
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param set PE_VELNE_NOISE 0.5
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param set PE_VELD_NOISE 0.3
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param set PE_POSNE_NOISE 0.5
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param set PE_POSD_NOISE 1.25
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param set PE_ABIAS_PNOISE 0.0001
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#
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# Default parameters for mission and position handling
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#
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param set NAV_ACC_RAD 3
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param set MPC_TKO_SPEED 1.0
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param set MPC_LAND_SPEED 0.7
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param set MPC_Z_VEL_MAX 1.5
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param set MPC_XY_VEL_MAX 4.0
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2.0
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param set RTL_LAND_DELAY 0
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fi
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# set environment variables (!= parameters)
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set PWM_RATE 400
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# tell the mixer to use parameters for these instead
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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# Transitional support: ensure suitable PWM min/max param values
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if param compare PWM_MIN 1000
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then
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param set PWM_MIN 1075
|
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fi
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if param compare PWM_MAX 2000
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then
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param set PWM_MAX 1950
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fi
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if param compare PWM_DISARMED 0
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then
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param set PWM_DISARMED 900
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fi
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@@ -0,0 +1,482 @@
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#!nsh
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#
|
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# PX4FMU startup script.
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#
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
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#
|
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#
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# Start CDC/ACM serial driver
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#
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sercon
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#
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# Default to auto-start mode.
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#
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set MODE autostart
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set TUNE_ERR ML<<CP4CP4CP4CP4CP4
|
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set LOG_FILE /fs/microsd/bootlog.txt
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||||
#
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# Try to mount the microSD card.
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||||
#
|
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# REBOOTWORK this needs to start after the flight control loop
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if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
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# Start playing the startup tune
|
||||
tone_alarm start
|
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else
|
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tone_alarm MBAGP
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if mkfatfs /dev/mmcsd0
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then
|
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if mount -t vfat /dev/mmcsd0 /fs/microsd
|
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then
|
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echo "INFO [init] MicroSD card formatted"
|
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else
|
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echo "ERROR [init] Format failed"
|
||||
tone_alarm MNBG
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
else
|
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set LOG_FILE /dev/null
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
# Disable autostart if the script found.
|
||||
#
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
if [ -f $FRC ]
|
||||
then
|
||||
echo "INFO [init] Executing script: $FRC"
|
||||
sh $FRC
|
||||
set MODE custom
|
||||
fi
|
||||
unset FRC
|
||||
|
||||
if [ $MODE == autostart ]
|
||||
then
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load parameters
|
||||
#
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
if mtd start
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
param select $PARAM_FILE
|
||||
if param load
|
||||
then
|
||||
else
|
||||
if param reset
|
||||
then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Set AUTOCNF flag to use it in AUTOSTART scripts
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Wipe out params except RC*
|
||||
param reset_nostart RC*
|
||||
set AUTOCNF yes
|
||||
else
|
||||
set AUTOCNF no
|
||||
fi
|
||||
|
||||
#
|
||||
# Set default values
|
||||
#
|
||||
set VEHICLE_TYPE none
|
||||
set MIXER none
|
||||
set OUTPUT_MODE none
|
||||
set PWM_OUT none
|
||||
set PWM_RATE none
|
||||
set PWM_DISARMED none
|
||||
set PWM_MIN none
|
||||
set PWM_MAX none
|
||||
set FMU_MODE pwm
|
||||
set MAVLINK_F default
|
||||
set EXIT_ON_END no
|
||||
set MAV_TYPE none
|
||||
set FAILSAFE none
|
||||
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART
|
||||
#
|
||||
if param compare SYS_AUTOSTART 0
|
||||
then
|
||||
echo "INFO [init] No autostart"
|
||||
else
|
||||
sh /etc/init.d/rc.autostart
|
||||
fi
|
||||
unset MODE
|
||||
|
||||
#
|
||||
# If autoconfig parameter was set, reset it and save parameters
|
||||
#
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
unset AUTOCNF
|
||||
|
||||
#
|
||||
# Set default output if not set
|
||||
#
|
||||
if [ $OUTPUT_MODE == none ]
|
||||
then
|
||||
if [ $USE_IO == yes ]
|
||||
then
|
||||
set OUTPUT_MODE io
|
||||
else
|
||||
set OUTPUT_MODE fmu
|
||||
fi
|
||||
fi
|
||||
|
||||
# waypoint storage
|
||||
# REBOOTWORK this needs to start in parallel
|
||||
if dataman start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Sensors System (start before Commander so Preflight checks are properly run)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start CPU load monitor
|
||||
#
|
||||
load_mon start
|
||||
|
||||
#
|
||||
# Start primary output
|
||||
#
|
||||
set TTYS1_BUSY no
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs
|
||||
#
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
|
||||
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
|
||||
if [ $OUTPUT_MODE != none ]
|
||||
then
|
||||
if [ $OUTPUT_MODE == uavcan_esc ]
|
||||
then
|
||||
if param compare UAVCAN_ENABLE 0
|
||||
then
|
||||
echo "INFO [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
|
||||
param set UAVCAN_ENABLE 1
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == fmu ]
|
||||
then
|
||||
if fmu mode_$FMU_MODE
|
||||
then
|
||||
else
|
||||
echo "ERR [init] FMU start failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
if fmu mode_pwm4
|
||||
then
|
||||
else
|
||||
echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
mavlink start -r 1200 -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Starting stuff according to UAVCAN_ENABLE value
|
||||
#
|
||||
if param greater UAVCAN_ENABLE 0
|
||||
then
|
||||
if uavcan start
|
||||
then
|
||||
else
|
||||
tone_alarm $TUNE_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
if uavcan start fw
|
||||
then
|
||||
else
|
||||
tone_alarm $TUNE_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional drivers
|
||||
#
|
||||
|
||||
# Sensors on the PWM interface bank
|
||||
if param compare SENS_EN_LL40LS 1
|
||||
then
|
||||
if pwm_input start
|
||||
then
|
||||
if ll40ls start pwm
|
||||
then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
# sf0x lidar sensor
|
||||
if param compare SENS_EN_SF0X 1
|
||||
then
|
||||
sf0x start
|
||||
fi
|
||||
|
||||
# Start USB shell if no microSD present, MAVLink else
|
||||
if [ $LOG_FILE == /dev/null ]
|
||||
then
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
else
|
||||
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
|
||||
fi
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
if param compare SYS_LOGGER 0
|
||||
then
|
||||
if sdlog2 start -r 100 -a -b 9 -t
|
||||
then
|
||||
fi
|
||||
else
|
||||
if logger start -b 12
|
||||
then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Fixed wing setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE == fw ]
|
||||
then
|
||||
echo "INFO [init] Fixedwing"
|
||||
|
||||
if [ $MIXER == none ]
|
||||
then
|
||||
# Set default mixer for fixed wing if not defined
|
||||
set MIXER AERT
|
||||
fi
|
||||
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
||||
set MAV_TYPE 1
|
||||
fi
|
||||
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard fixedwing apps
|
||||
sh /etc/init.d/rc.fw_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Multicopters setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE == mc ]
|
||||
then
|
||||
echo "INFO [init] Multicopter"
|
||||
|
||||
if [ $MIXER == none ]
|
||||
then
|
||||
echo "INFO [init] Mixer undefined"
|
||||
fi
|
||||
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
# Use mixer to detect vehicle type
|
||||
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
fi
|
||||
if [ $MIXER == quad_w ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
fi
|
||||
if [ $MIXER == quad_h ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
fi
|
||||
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
|
||||
then
|
||||
set MAV_TYPE 15
|
||||
fi
|
||||
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER == hexa_cox ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
|
||||
then
|
||||
set MAV_TYPE 14
|
||||
fi
|
||||
fi
|
||||
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
echo "WARN [init] Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 2
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard multicopter apps
|
||||
sh /etc/init.d/rc.mc_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# VTOL setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE == vtol ]
|
||||
then
|
||||
echo "INFO [init] VTOL"
|
||||
|
||||
if [ $MIXER == none ]
|
||||
then
|
||||
echo "WARN [init] VTOL mixer undefined"
|
||||
fi
|
||||
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
# Use mixer to detect vehicle type
|
||||
if [ $MIXER == caipirinha_vtol ]
|
||||
then
|
||||
set MAV_TYPE 19
|
||||
fi
|
||||
if [ $MIXER == firefly6 ]
|
||||
then
|
||||
set MAV_TYPE 21
|
||||
fi
|
||||
if [ $MIXER == quad_x_pusher_vtol ]
|
||||
then
|
||||
set MAV_TYPE 22
|
||||
fi
|
||||
fi
|
||||
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
echo "WARN [init] Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 19
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps
|
||||
sh /etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Rover setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE == rover ]
|
||||
then
|
||||
# 10 is MAV_TYPE_GROUND_ROVER
|
||||
set MAV_TYPE 10
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard rover apps
|
||||
sh /etc/init.d/rc.axialracing_ax10_apps
|
||||
|
||||
param set MAV_TYPE 10
|
||||
fi
|
||||
|
||||
unset MIXER
|
||||
unset MAV_TYPE
|
||||
unset OUTPUT_MODE
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Generic setup (autostart ID not found)
|
||||
#
|
||||
if [ $VEHICLE_TYPE == none ]
|
||||
then
|
||||
echo "WARN [init] No autostart ID found"
|
||||
fi
|
||||
|
||||
# Start any custom addons
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
if [ -f $FEXTRAS ]
|
||||
then
|
||||
echo "INFO [init] Addons script: $FEXTRAS"
|
||||
sh $FEXTRAS
|
||||
fi
|
||||
unset FEXTRAS
|
||||
|
||||
# Run no SD alarm
|
||||
if [ $LOG_FILE == /dev/null ]
|
||||
then
|
||||
# Play SOS
|
||||
tone_alarm error
|
||||
fi
|
||||
|
||||
# End of autostart
|
||||
fi
|
||||
|
||||
# There is no further script processing, so we can free some RAM
|
||||
# XXX potentially unset all script variables.
|
||||
unset TUNE_ERR
|
||||
|
||||
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
|
||||
mavlink boot_complete
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
echo "INFO [init] NSH exit"
|
||||
exit
|
||||
fi
|
||||
unset EXIT_ON_END
|
||||
@@ -0,0 +1,105 @@
|
||||
## PX4 mixer definitions ##
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
For a detailed description of the mixing architecture and examples see:
|
||||
http://px4.io/dev/mixing
|
||||
|
||||
### Syntax ###
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
For example: each simple or null mixer is assigned to outputs 1 to x
|
||||
in the order they appear in the mixer file.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
#### Null Mixer ####
|
||||
|
||||
A null mixer consumes no controls and generates a single actuator output whose
|
||||
value is always zero. Typically a null mixer is used as a placeholder in a
|
||||
collection of mixers in order to achieve a specific pattern of actuator outputs.
|
||||
|
||||
The null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
#### Simple Mixer ####
|
||||
|
||||
A simple mixer combines zero or more control inputs into a single actuator
|
||||
output. Inputs are scaled, and the mixing function sums the result before
|
||||
applying an output scaler.
|
||||
|
||||
A simple mixer definition begins with:
|
||||
|
||||
M: <control count>
|
||||
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
If <control count> is zero, the sum is effectively zero and the mixer will
|
||||
output a fixed value that is <offset> constrained by <lower limit> and <upper
|
||||
limit>.
|
||||
|
||||
The second line defines the output scaler with scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> value an offset within that group. These values are specific to
|
||||
the device reading the mixer definition.
|
||||
|
||||
When used to mix vehicle controls, mixer group zero is the vehicle attitude
|
||||
control group, and index values zero through three are normally roll, pitch,
|
||||
yaw and thrust respectively.
|
||||
|
||||
The remaining fields on the line configure the control scaler with parameters as
|
||||
discussed above. Whilst the calculations are performed as floating-point
|
||||
operations, the values stored in the definition file are scaled by a factor of
|
||||
10000; i.e. an offset of -0.5 is encoded as -5000.
|
||||
|
||||
#### Multirotor Mixer ####
|
||||
|
||||
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
* 4x - quadrotor in X configuration
|
||||
* 4+ - quadrotor in + configuration
|
||||
* 6x - hexcopter in X configuration
|
||||
* 6+ - hexcopter in + configuration
|
||||
* 8x - octocopter in X configuration
|
||||
* 8+ - octocopter in + configuration
|
||||
|
||||
Each of the roll, pitch and yaw scale values determine scaling of the roll,
|
||||
pitch and yaw controls relative to the thrust control. Whilst the calculations
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
@@ -0,0 +1,3 @@
|
||||
# Hexa X
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
R: 4x 10000 10000 10000 0
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
Reference in New Issue
Block a user