diff --git a/ROMFS/px4fmu_common/init.d/2200_mini_talon b/ROMFS/px4fmu_common/init.d/2200_mini_talon new file mode 100644 index 0000000000..307c86ed53 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/2200_mini_talon @@ -0,0 +1,53 @@ +#!nsh +# +# @name X-UAV Mini Talon +# +# @type Plane V-Tail +# @class Plane +# +# The Mini Talon does not have a wheel and +# no flaps. I leave them here because the mixer +# computes also wheel and flap controls. +# +# @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 Friedrich Beckmann +# + +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_vtail + +# use PWM parameters for throttle channel +set PWM_OUT 5 diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt index 397c588e2f..76ee6f2e0c 100644 --- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt @@ -37,6 +37,7 @@ px4_add_romfs_files( 2100_standard_plane 2105_maja 2106_albatross + 2200_mini_talon 24001_dodeca_cox 3000_generic_wing 3030_io_camflyer diff --git a/ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix b/ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix new file mode 100644 index 0000000000..6bd4568da8 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix @@ -0,0 +1,70 @@ +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 mechanically reversed. + +M: 2 +S: 0 0 -10000 -10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 2 +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). + +M: 2 +S: 0 2 7000 7000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +M: 2 +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 +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 +S: 0 2 -10000 -10000 0 -10000 10000 + +Flaps mixer +------------ +Flap servos are physically reversed. + +M: 1 +S: 0 4 0 5000 -10000 -10000 10000 + +M: 1 +S: 0 4 0 -5000 10000 -10000 10000 +