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Share the ROMFS prototype betwen FMUv1 and v2
This commit is contained in:
px4dev
Executable
+224
@@ -0,0 +1,224 @@
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% This Matlab Script can be used to import the binary logged values of the
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% PX4FMU into data that can be plotted and analyzed.
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% Clear everything
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clc
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clear all
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close all
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% Set the path to your sysvector.bin file here
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filePath = 'sysvector.bin';
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% Work around a Matlab bug (not related to PX4)
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% where timestamps from 1.1.1970 do not allow to
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% read the file's size
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if ismac
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system('touch -t 201212121212.12 sysvector.bin');
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end
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%%%%%%%%%%%%%%%%%%%%%%%
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% SYSTEM VECTOR
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%
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% //All measurements in NED frame
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%
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% uint64_t timestamp; //[us]
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% float gyro[3]; //[rad/s]
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% float accel[3]; //[m/s^2]
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% float mag[3]; //[gauss]
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% float baro; //pressure [millibar]
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% float baro_alt; //altitude above MSL [meter]
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% float baro_temp; //[degree celcius]
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% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
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% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
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% float vbat; //battery voltage in [volt]
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% float bat_current - current drawn from battery at this time instant
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% float bat_discharged - discharged energy in mAh
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% float adc[4]; //ADC ports [volt]
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% float local_position[3]; //tangent plane mapping into x,y,z [m]
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% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
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% float attitude[3]; //pitch, roll, yaw [rad]
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% float rotMatrix[9]; //unitvectors
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% float actuator_control[4]; //unitvector
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% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
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% float diff_pressure; - pressure difference in millibar
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% float ind_airspeed;
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% float true_airspeed;
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% Definition of the logged values
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logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
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logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
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logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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% First get length of one line
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columns = length(logFormat);
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lineLength = 0;
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for i=1:columns
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lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
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end
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if exist(filePath, 'file')
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fileInfo = dir(filePath);
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fileSize = fileInfo.bytes;
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elements = int64(fileSize./(lineLength));
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fid = fopen(filePath, 'r');
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offset = 0;
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for i=1:columns
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% using fread with a skip speeds up the import drastically, do not
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% import the values one after the other
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sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
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fid, ...
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
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lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
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logFormat{i}.machineformat) ...
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);
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offset = offset + logFormat{i}.bytes*logFormat{i}.array;
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fseek(fid, offset,'bof');
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end
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% shot the flight time
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
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time_s = time_us*1e-6;
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time_m = time_s/60;
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% close the logfile
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fclose(fid);
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disp(['end log2matlab conversion' char(10)]);
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else
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disp(['file: ' filePath ' does not exist' char(10)]);
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end
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%% Plot GPS RAW measurements
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% Only plot GPS data if available
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if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0
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figure('units','normalized','outerposition',[0 0 1 1])
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plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3));
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end
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%% Plot optical flow trajectory
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flow_sz = size(sysvector.timestamp);
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flow_elements = flow_sz(1);
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xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms]
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%calc dt
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dt = zeros(flow_elements,1);
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for i = 1:flow_elements-1
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dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s]
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end
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dt(1,1) = mean(dt);
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global_speed = zeros(flow_elements,3);
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%calc global speed (with rot matrix)
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for i = 1:flow_elements
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rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]';
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speedX = sysvector.optical_flow(i,3);
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speedY = sysvector.optical_flow(i,4);
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relSpeed = [-speedY,speedX,0];
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global_speed(i,:) = relSpeed * rotM;
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end
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px = zeros(flow_elements,1);
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py = zeros(flow_elements,1);
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distance = 0;
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last_vx = 0;
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last_vy = 0;
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elem_cnt = 0;
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% Very basic accumulation, stops on bad flow quality
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for i = 1:flow_elements
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if sysvector.optical_flow(i,6) > 5
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px(i,1) = global_speed(i,1)*dt(i,1);
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py(i,1) = global_speed(i,2)*dt(i,1);
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distance = distance + norm([px(i,1) py(i,1)]);
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last_vx = px(i,1);
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last_vy = py(i,1);
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else
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px(i,1) = last_vx;
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py(i,1) = last_vy;
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last_vx = last_vx*0.95;
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last_vy = last_vy*0.95;
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end
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end
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px_sum = cumsum(px);
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py_sum = cumsum(py);
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time = cumsum(dt);
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figure()
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set(gca, 'Units','normal');
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plot(py_sum, px_sum, '-blue', 'LineWidth',2);
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axis equal;
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% set title and axis captions
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xlabel('X position (meters)','fontsize',14)
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ylabel('Y position (meters)','fontsize',14)
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% mark begin and end
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hold on
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plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,...
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'MarkerEdgeColor','k',...
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'MarkerFaceColor','g',...
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'MarkerSize',10)
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hold on
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plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,...
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'MarkerEdgeColor','k',...
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'MarkerFaceColor','b',...
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'MarkerSize',10)
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% add total length as annotation
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set(gca,'fontsize',13);
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legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60));
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title('Optical Flow Position Integration', 'fontsize', 15);
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figure()
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plot(time, sysvector.optical_flow(:,5), 'blue');
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axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]);
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xlabel('seconds','fontsize',14);
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ylabel('m','fontsize',14);
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set(gca,'fontsize',13);
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title('Ultrasound Altitude', 'fontsize', 15);
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figure()
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plot(time, global_speed(:,2), 'red');
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hold on;
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plot(time, global_speed(:,1), 'blue');
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legend('y velocity (m/s)', 'x velocity (m/s)');
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xlabel('seconds','fontsize',14);
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ylabel('m/s','fontsize',14);
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set(gca,'fontsize',13);
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title('Optical Flow Velocity', 'fontsize', 15);
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@@ -0,0 +1,64 @@
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Aileron/rudder/elevator/throttle mixer for PX4FMU
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==================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
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assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
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elevator to output 1, the rudder to output 2 and the throttle to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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Aileron mixer
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-------------
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Two scalers total (output, roll).
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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As there is only one output, if using two servos adjustments to compensate for
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differences between the servos must be made mechanically. To obtain the correct
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motion using a Y cable, the servos can be positioned reversed from one another.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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Rudder mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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@@ -0,0 +1,60 @@
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Aileron/elevator/throttle mixer for PX4FMU
|
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==================================================
|
||||
|
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This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
|
||||
output 1 and the throttle to output 3.
|
||||
|
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
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(roll), 1 (pitch) and 3 (thrust).
|
||||
|
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Aileron mixer
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-------------
|
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Two scalers total (output, roll).
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|
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This mixer assumes that the aileron servos are 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.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
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Alternatively, output 2 could be used as a second aileron servo output with
|
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separate mixing.
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|
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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|
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Elevator mixer
|
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------------
|
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Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator 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
|
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O: 10000 10000 0 -10000 10000
|
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S: 0 1 -10000 -10000 0 -10000 10000
|
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|
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Output 2
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--------
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This mixer is empty.
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Z:
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|
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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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,52 @@
|
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Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
Designed for Bormatec Camflyer Q
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -5000 -8000 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -8000 -5000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,53 @@
|
||||
Rudder/elevator/throttle mixer for PX4FMU
|
||||
=========================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
|
||||
and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the rudder 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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator 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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,50 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -3000 -5000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -5000 -3000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 3000 5000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 5000 3000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 6+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 8+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 8x 10000 10000 10000 0
|
||||
@@ -0,0 +1,23 @@
|
||||
Passthrough mixer for PX4FMU
|
||||
============================
|
||||
|
||||
This file defines passthrough mixers suitable for testing.
|
||||
|
||||
Channel group 0, channels 0-3 are passed directly through to the outputs.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4x 10000 10000 10000 0
|
||||
@@ -0,0 +1,154 @@
|
||||
PX4 mixer definitions
|
||||
=====================
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
Mixer basics
|
||||
------------
|
||||
|
||||
Mixers combine control values from various sources (control tasks, user inputs,
|
||||
etc.) and produce output values suitable for controlling actuators; servos,
|
||||
motors, switches and so on.
|
||||
|
||||
An actuator derives its value from the combination of one or more control
|
||||
values. Each of the control values is scaled according to the actuator's
|
||||
configuration and then combined to produce the actuator value, which may then be
|
||||
further scaled to suit the specific output type.
|
||||
|
||||
Internally, all scaling is performed using floating point values. Inputs and
|
||||
outputs are clamped to the range -1.0 to 1.0.
|
||||
|
||||
control control control
|
||||
| | |
|
||||
v v v
|
||||
scale scale scale
|
||||
| | |
|
||||
| v |
|
||||
+-------> mix <------+
|
||||
|
|
||||
scale
|
||||
|
|
||||
v
|
||||
out
|
||||
|
||||
Scaling
|
||||
-------
|
||||
|
||||
Basic scalers provide linear scaling of the input to the output.
|
||||
|
||||
Each scaler allows the input value to be scaled independently for inputs
|
||||
greater/less than zero. An offset can be applied to the output, and lower and
|
||||
upper boundary constraints can be applied. Negative scaling factors cause the
|
||||
output to be inverted (negative input produces positive output).
|
||||
|
||||
Scaler pseudocode:
|
||||
|
||||
if (input < 0)
|
||||
output = (input * NEGATIVE_SCALE) + OFFSET
|
||||
else
|
||||
output = (input * POSITIVE_SCALE) + OFFSET
|
||||
|
||||
if (output < LOWER_LIMIT)
|
||||
output = LOWER_LIMIT
|
||||
if (output > UPPER_LIMIT)
|
||||
output = UPPER_LIMIT
|
||||
|
||||
Syntax
|
||||
------
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
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, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
Null Mixer
|
||||
..........
|
||||
|
||||
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 null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
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 combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
4x - quadrotor in X configuration
|
||||
4+ - quadrotor in + configuration
|
||||
6x - hexcopter in X configuration
|
||||
6+ - hexcopter in + configuration
|
||||
8x - octocopter in X configuration
|
||||
8+ - octocopter in + configuration
|
||||
|
||||
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
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
Reference in New Issue
Block a user