control_allocator: remove direct mixer, add actuator_{motors,servos} instead

2026-10-19 03:33:34 +08:00 · 2021-10-18 18:45:19 -04:00
parent a51c465b54
commit 38fa65a47e
21 changed files with 49 additions and 371 deletions
@@ -46,4 +46,5 @@ param set-default CA_MC_R3_PY 0.1875
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

-set MIXER direct
+set MIXER skip
+set MIXER_AUX none
@@ -78,5 +78,5 @@ param set-default CA_MC_R5_KM -0.05

 set MAV_TYPE 13

-# set MIXER hexa_x
-set MIXER direct
+set MIXER skip
+set MIXER_AUX none
@@ -12,7 +12,8 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER none
+set MIXER skip
+set MIXER_AUX none

 param set-default SYS_CTRL_ALLOC 1

@@ -51,6 +52,4 @@ param set-default CA_MC_R3_PY 0.177
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

-set MIXER direct

-set MIXER_AUX direct_aux
@@ -66,8 +66,5 @@ param set-default CA_MC_R5_PY -0.1375
 param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05

-set MIXER direct
-set PWM_OUT 123456
-
-set MIXER_AUX direct_aux
-set PWM_AUX_OUT 123456
+set MIXER skip
+set MIXER_AUX none
@@ -44,5 +44,4 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
-	tiltrotor_sitl_direct.main.mix
 )
@@ -1,14 +0,0 @@
-Mixer for quad tiltrotor (x motor configuration)
-================================================
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7
-A: 8
-A: 9
-A: 10
@@ -46,7 +46,6 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
-	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix
@@ -1,11 +0,0 @@
-# Direct mixer
-# @board px4_fmu-v2 exclude
-
-A: 0
-A: 1
-A: 2
-A: 3
-A: 4
-A: 5
-A: 6
-A: 7