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Generic helicopter mixer

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fix code style
This commit is contained in:
Bart Slinger
2016-12-10 14:45:49 +01:00
committed by Lorenz Meier
parent d8d9ab1bfb
commit a7c8d77453
9 changed files with 399 additions and 57 deletions
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ROMFS/px4fmu_common/init.d/16001_helicopter
+6 -2
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@@ -12,9 +12,9 @@ sh /etc/init.d/rc.mc_defaults
# Configure as helicopter (number 4 defined in commander_helper.cpp)
set MAV_TYPE 4
set MIXER heli_120deg
set MIXER blade130
set PWM_OUT 1234
#set PWM_OUT 1234
if [ $AUTOCNF == yes ]
then
@@ -39,7 +39,9 @@ then
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_P_MAX 360.0
# param set PWM_DISARMED 1500
param set PWM_MIN 1075
# param set PWM_MAX 1950
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
@@ -48,3 +50,5 @@ then
param set CBRK_IO_SAFETY 22027
fi
set HIL no
ROMFS/px4fmu_common/mixers/blade130.main.mix
+16
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@@ -0,0 +1,16 @@
Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
==================================================
H: 3
T: 0 3000 6000 8000 10000
P: 500 1500 2500 3500 4500
# Swash plate servos:
S: 0 10000 10000 0 -8000 8000
S: 140 13054 10000 0 -8000 8000
S: 220 13054 10000 0 -8000 8000
# Tail servo:
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/heli_120deg.main.mix
-54
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@@ -1,54 +0,0 @@
Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
Blade 130x helicopter has longer servo arms left and right. The front servo arm is shorter.
Therefore it is not required to use the 0.866 factor.
==================================================
Output 0 - Left Servo Mixer
-----------------
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + Aileron (Roll - 0)
M: 3
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Output 1 - Front Servo Mixer
----------------
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
M: 2
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Output 2 - Right Servo Mixer
----------------
Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - Aileron (Roll - 0)
M: 3
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
Output 3 - Tail Servo Mixer
----------------
Tail Servo = Yaw (control index = 2)
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Output 4 - Motor speed mixer
-----------------
This would be the motor speed control output from governor power demand- not sure what index to use here?
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000