fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-30 01:34:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

clarify left/right and elevon assignments

Browse Source
This commit is contained in:
Mark Whitehorn 2016-02-27 21:21:33 -07:00 committed by tumbili
parent ad54f0149c
commit 5ee6dad7ea
1 changed files with 12 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
View File

@ -3,17 +3,21 @@ Caipirinha tailsitter mixer
This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
has two motors in total, one attached to each wing. It also has two elevons which
are located in the slipstream of the propellers.
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
Motor mixer
------------
When standing in front of the vehicle the first motor should be on the left side
while the second motor should be on the right side.
Channel 1 connects to the right (starboard) motor.
Channel 2 connects to the left (port) motor.
R: 2- 10000 10000 10000 0
Zero mixer (2x)
---------------
Channels 3,4 are unused.
Z:
@ -21,11 +25,13 @@ Z:
Elevons mixer
--------------
Channel 5 connects to the right (starboard) elevon.
Channel 6 connects to the left (port) elevon.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000