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More example mixers; three different fixed-wing configurations for FMU.

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px4dev 2012-08-05 16:54:50 -07:00
parent 6976fe4b19
commit 5c30722e77
5 changed files with 191 additions and 13 deletions
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5
ROMFS/Makefile
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@ -21,7 +21,10 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix
#
# Add the PX4IO firmware to the spec if someone has dropped it into the

64
ROMFS/mixers/FMU_AERT.mix Normal file
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@ -0,0 +1,64 @@
Aileron/rudder/elevator/throttle mixer for PX4FMU
==================================================
This file defines mixers suirable for controlling a fixed wing aircraft with
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
elevator to output 1, the rudder to output 2 and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
Aileron mixer
-------------
Two scalers total (output, roll).
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.
As there is only one output, if using two servos adjustments to compensate for
differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 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: 2
S: 0 0 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: 2
S: 0 0 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: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

60
ROMFS/mixers/FMU_AET.mix Normal file
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@ -0,0 +1,60 @@
Aileron/elevator/throttle mixer for PX4FMU
==================================================
This file defines mixers suirable for controlling a fixed wing aircraft with
aileron, elevator and throttle controls using PX4FMU. The configuration assumes
the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
output 1 and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
Aileron mixer
-------------
Two scalers total (output, roll).
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.
As there is only one output, if using two servos adjustments to compensate for
differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
Alternatively, output 2 could be used as a second aileron servo output with
separate mixing.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 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: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Output 2
--------
This mixer is empty.
M: 0
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: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

53
ROMFS/mixers/FMU_RET.mix Normal file
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@ -0,0 +1,53 @@
Rudder/elevator/throttle mixer for PX4FMU
=========================================
This file defines mixers suirable for controlling a fixed wing aircraft with
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
and the throttle to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
Rudder mixer
------------
Two scalers total (output, roll).
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: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 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: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Output 2
--------
This mixer is empty.
M: 0
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: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

22
ROMFS/mixers/FMU_delta.mix
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@ -1,12 +1,10 @@
Delta-wing mixer for PX4FMU
===========================
Lines in this file that begin with a capital letter and a colon are interpreted
as mixer commands. All other lines are ignored.
This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo
outputs 0 and 1 and the motor speed control to output 2. Output 3 is assumed to
be unused.
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
@ -33,6 +31,11 @@ S: 0 0 10000 10000 0 -10000 10000
S: 0 0 5000 3000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
Output 2
--------
This mixer is empty.
M: 0
Motor speed mixer
-----------------
@ -43,9 +46,4 @@ range. Inputs below zero are treated as zero.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 2 0 20000 -10000 -10000 10000
We leave the fourth mixer empty.
M: 0
S: 0 3 0 20000 -10000 -10000 10000