From 82d52d96c5c473111bb4e9376d9d5873d3f54a3d Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Wed, 10 Jul 2019 18:41:47 -0400 Subject: [PATCH] Defined the new tilted hex airframe --- .../init.d/airframes/6100_tilt_hex | 30 +++++++++++++++++++ ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix | 3 ++ Tools/px4airframes/srcparser.py | 2 ++ 3 files changed, 35 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex create mode 100644 ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix diff --git a/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex b/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex new file mode 100644 index 0000000000..2dbe69ca64 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex @@ -0,0 +1,30 @@ +#!/bin/sh +# +# @name Hexarotor x with tilted arms +# +# @url http://theairlab.org/ +# +# @type Tilt-Hexarotor +# @class Copter +# +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 +# @output MAIN5 motor 5 +# @output MAIN6 motor 6 +# +# @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 Azarakhsh Keipour +# + +sh /etc/init.d/rc.mc_defaults + +# Set mixer +set MIXER hexa_tilt + +# Need to set all 8 channels +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix b/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix new file mode 100644 index 0000000000..a80cc5df9d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix @@ -0,0 +1,3 @@ +# Hexarotor with tilted arms + +R: 6t 10000 10000 10000 0 diff --git a/Tools/px4airframes/srcparser.py b/Tools/px4airframes/srcparser.py index 0ecc9f7ecc..e6489ccef0 100644 --- a/Tools/px4airframes/srcparser.py +++ b/Tools/px4airframes/srcparser.py @@ -92,6 +92,8 @@ class ParameterGroup(object): return "Rover" elif (self.name == "Boat"): return "Boat" + elif (self.name == "Tilt-Hexarotor"): + return "HexaRotorX" return "AirframeUnknown" def GetParams(self):