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fix mixers README.md

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-the angle brackets in the tag descriptions were breaking the markdown
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Daniel Agar
2015-06-07 21:37:07 -04:00
parent fee48a77ae
commit a7d7c69a79
1 changed files with 12 additions and 12 deletions
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ROMFS/px4fmu_common/mixers/README.md
+12 -12
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@@ -34,7 +34,7 @@ collection of mixers in order to achieve a specific pattern of actuator outputs.
The null mixer definition has the form: The null mixer definition has the form:
Z: Z:
#### Simple Mixer #### #### Simple Mixer ####
@@ -44,8 +44,8 @@ applying an output scaler.
A simple mixer definition begins with: A simple mixer definition begins with:
M: <control count> M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will 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 output a fixed value that is <offset> constrained by <lower limit> and <upper
@@ -59,7 +59,7 @@ offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control The definition continues with <control count> entries describing the control
inputs and their scaling, in the form: inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> 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, 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 and the <index> value an offset within that group. These values are specific to
@@ -81,16 +81,16 @@ into a set of actuator outputs intended to drive motor speed controllers.
The mixer definition is a single line of the form: The mixer definition is a single line of the form:
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
The supported geometries include: The supported geometries include:
4x - quadrotor in X configuration * 4x - quadrotor in X configuration
4+ - quadrotor in + configuration * 4+ - quadrotor in + configuration
6x - hexcopter in X configuration * 6x - hexcopter in X configuration
6+ - hexcopter in + configuration * 6+ - hexcopter in + configuration
8x - octocopter in X configuration * 8x - octocopter in X configuration
8+ - octocopter in + configuration * 8+ - octocopter in + configuration
Each of the roll, pitch and yaw scale values determine scaling of the roll, Each of the roll, pitch and yaw scale values determine scaling of the roll,
pitch and yaw controls relative to the thrust control. Whilst the calculations pitch and yaw controls relative to the thrust control. Whilst the calculations
@@ -102,4 +102,4 @@ thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
range -1.0 to 1.0. range -1.0 to 1.0.
In the case where an actuator saturates, all actuator values are rescaled so that In the case where an actuator saturates, all actuator values are rescaled so that
the saturating actuator is limited to 1.0. the saturating actuator is limited to 1.0.