fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 01:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #3213 from sanderux/master

Browse Source 
Added V-Tail VTOL config and mixer
This commit is contained in:
Roman Bapst
2015-11-25 13:26:53 +01:00
parent bc08d8dc93 c3e166fd4b
commit 4e6ec2efa8
2 changed files with 110 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
+59
View File
@@ -0,0 +1,59 @@
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