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Merge pull request #3213 from sanderux/master

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Added V-Tail VTOL config and mixer
This commit is contained in:
Roman Bapst 2015-11-25 13:26:53 +01:00
commit 4e6ec2efa8
2 changed files with 110 additions and 0 deletions
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51
ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad Normal file
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#!nsh
#
# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
#
# @type Standard VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
fi
set MIXER vtol_quad_x
set PWM_OUT 12345678
set MIXER_AUX vtol_AAVVT
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set MAV_TYPE 22
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2

59
ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix Normal file
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Aileron/v-tail/throttle VTOL mixer for PX4FMU
=======================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
The configuration assumes the aileron servos are connected to PX4FMU
AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4.
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: 1 0 10000 10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 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: 1 2 -7000 -7000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 2 -7000 -7000 0 -10000 10000
S: 1 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: 1 3 0 20000 -10000 -10000 10000