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Adjust sample mixer configurations and documentation to match new syntax.

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px4dev
2012-08-11 11:28:05 -07:00
parent 65aec69705
commit a2116d2058
7 changed files with 94 additions and 56 deletions
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ROMFS/mixers/README
+52 -14
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@@ -62,29 +62,67 @@ followed by a colon are significant. All other lines are ignored, meaning that
explanatory text can be freely mixed with the definitions.
Each file may define more than one mixer; the allocation of mixers to actuators
is specific to the device reading the mixer definition.
is specific to the device reading the mixer definition, and the number of
actuator outputs generated by a mixer is specific to the mixer.
A mixer begins with a line of the form
M: <scaler count>
<tag>: <mixer arguments>
If the scaler count is zero, the mixer is a placeholder and the device will not
allocate a mixer for this position. Otherwise, this line is followed by scaler
definitions matching the given count.
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
multirotor mixer, etc.
A scaler definition is a line of the form:
Null Mixer
..........
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
A null mixer consumes no controls and generates a single actuator output whose
value is always zero. Typically a null mixer is used as a placeholder in a
collection of mixers in order to achieve a specific pattern of actuator outputs.
The first scaler definition following the M: line configures the output scaler.
The <group> and <index> fields are ignored in this case.
The null mixer definition has the form:
For the remaining scalers, the <group> value identifies the control group from
which the scaler will read. Control group 0 is the vehicle attitude control
group; other group numbers may be assigned for other purposes. The <index> value
selects the control within the group that will be scaled.
Z:
The remaining fields on the line represent the scaler parameters as discussed
Simple Mixer
............
A simple mixer combines zero or more control inputs into a single actuator
output. Inputs are scaled, and the mixing function sums the result before
applying an output scaler.
A simple mixer definition begins with:
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will
output a fixed value that is <offset> constrained by <lower limit> and <upper
limit>.
The second line defines the output scaler with scaler parameters as discussed
above. Whilst the calculations are performed as floating-point operations, the
values stored in the definition file are scaled by a factor of 10000; i.e. an
offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control
inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
The <group> value identifies the control group from which the scaler will read,
and the <index> value an offset within that group. These values are specific to
the device reading the mixer definition.
When used to mix vehicle controls, mixer group zero is the vehicle attitude
control group, and index values zero through three are normally roll, pitch,
yaw and thrust respectively.
The remaining fields on the line configure the control scaler with parameters as
discussed above. Whilst the calculations are performed as floating-point
operations, the values stored in the definition file are scaled by a factor of
10000; i.e. an offset of -0.5 is encoded as -5000.
Multirotor Mixer
................
The multirotor mixer is not yet defined.