From 5e4df86091f587ffcbb9fdb66fe87d00aaf2520b Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Mon, 2 Nov 2015 17:40:32 +0100 Subject: [PATCH] added albatross config and mixer --- ROMFS/px4fmu_common/init.d/2105_maja | 12 +-- ROMFS/px4fmu_common/init.d/2106_albatross | 51 +++++++++++ .../{AERTWF.main.mix => AAERTWF.main.mix} | 0 ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix | 84 +++++++++++++++++++ 4 files changed, 142 insertions(+), 5 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d/2106_albatross rename ROMFS/px4fmu_common/mixers/{AERTWF.main.mix => AAERTWF.main.mix} (100%) create mode 100644 ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix diff --git a/ROMFS/px4fmu_common/init.d/2105_maja b/ROMFS/px4fmu_common/init.d/2105_maja index 10c5608eae..1f68428f3b 100644 --- a/ROMFS/px4fmu_common/init.d/2105_maja +++ b/ROMFS/px4fmu_common/init.d/2105_maja @@ -5,10 +5,12 @@ # @type Standard Plane # # @output MAIN1 aileron -# @output MAIN2 elevator -# @output MAIN3 rudder -# @output MAIN4 throttle -# @output MAIN5 wheel +# @output MAIN2 aileron +# @output MAIN3 elevator +# @output MAIN4 rudder +# @output MAIN5 throttle +# @output MAIN6 wheel +# @output MAIN7 flaps # # @output AUX1 feed-through of RC AUX1 channel # @output AUX2 feed-through of RC AUX2 channel @@ -39,7 +41,7 @@ then param set PWM_DISARMED 1000 fi -set MIXER AERTWF +set MIXER AAERTWF # use PWM parameters for throttle channel set PWM_OUT 5 diff --git a/ROMFS/px4fmu_common/init.d/2106_albatross b/ROMFS/px4fmu_common/init.d/2106_albatross new file mode 100644 index 0000000000..79e560fb5f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/2106_albatross @@ -0,0 +1,51 @@ +#!nsh +# +# @name Applied Aeronautics Albatross +# +# @type Standard Plane +# +# @output MAIN1 aileron right +# @output MAIN2 aileron left +# @output MAIN3 v-tail right +# @output MAIN4 v-tail left +# @output MAIN5 throttle +# @output MAIN6 wheel +# @output MAIN7 flaps right +# @output MAIN8 flaps left +# +# @output AUX1 feed-through of RC AUX1 channel +# @output AUX2 feed-through of RC AUX2 channel +# @output AUX3 feed-through of RC AUX3 channel +# +# @maintainer Andreas Antener +# + +sh /etc/init.d/rc.fw_defaults + +if [ $AUTOCNF == yes ] +then + param set FW_AIRSPD_MIN 10 + param set FW_AIRSPD_TRIM 15 + param set FW_AIRSPD_MAX 20 + + param set FW_MAN_P_MAX 55 + param set FW_MAN_R_MAX 55 + param set FW_R_LIM 55 + + param set FW_WR_FF 0.2 + param set FW_WR_I 0.2 + param set FW_WR_IMAX 0.8 + param set FW_WR_P 1 + param set FW_W_RMAX 0 + + # set disarmed value for the ESC + param set PWM_DISARMED 1000 +fi + +set MIXER AAVVTWFF + +# use PWM parameters for throttle channel +set PWM_OUT 5 +set PWM_DISARMED p:PWM_DISARMED +set PWM_MIN p:PWM_MIN +set PWM_MAX p:PWM_MAX diff --git a/ROMFS/px4fmu_common/mixers/AERTWF.main.mix b/ROMFS/px4fmu_common/mixers/AAERTWF.main.mix similarity index 100% rename from ROMFS/px4fmu_common/mixers/AERTWF.main.mix rename to ROMFS/px4fmu_common/mixers/AAERTWF.main.mix diff --git a/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix b/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix new file mode 100644 index 0000000000..52146b84f0 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix @@ -0,0 +1,84 @@ +Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU +======================================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps +using PX4FMU. +The configuration assumes the aileron servos are connected to PX4FMU servo +output 0 and 1, the tail servos to output 2 and 3, the throttle +to output 4, the wheel to output 5 and the flaps to output 6 and 7. + +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: 0 0 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 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: 0 2 -7000 -7000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 2 -7000 -7000 0 -10000 10000 +S: 0 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: 0 3 0 20000 -10000 -10000 10000 + +Wheel mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the wheel 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: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 + +Flaps mixer +------------ +Flap servos are physically reversed. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 5000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 -10000 -5000 0 -10000 10000 +