From ad11927661c844c15160c287fcccf5a828f0a868 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 13 Jul 2021 13:32:05 -0400 Subject: [PATCH] ROMFS: delete redundant wing mixers - these are nearly identical with slightly different scaling and haven't been tested for years --- .../init.d/airframes/3031_phantom | 3 +- .../init.d/airframes/3033_wingwing | 2 +- .../px4fmu_common/init.d/airframes/3034_fx79 | 3 +- .../init.d/airframes/3036_pigeon | 3 +- .../init.d/airframes/3100_tbs_caipirinha | 2 +- ROMFS/px4fmu_common/mixers/CMakeLists.txt | 4 -- ROMFS/px4fmu_common/mixers/FX79.main.mix | 52 ------------------- ROMFS/px4fmu_common/mixers/caipi.main.mix | 48 ----------------- ROMFS/px4fmu_common/mixers/phantom.main.mix | 45 ---------------- ROMFS/px4fmu_common/mixers/wingwing.main.mix | 48 ----------------- 10 files changed, 5 insertions(+), 205 deletions(-) delete mode 100644 ROMFS/px4fmu_common/mixers/FX79.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/caipi.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/phantom.main.mix delete mode 100644 ROMFS/px4fmu_common/mixers/wingwing.main.mix diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom index 0b2a594768..4a2af43dcc 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom @@ -48,8 +48,7 @@ param set-default PWM_MAIN_DISARM 1000 # the payload bay is pitched up about 7 degrees param set-default SENS_BOARD_Y_OFF 7 - -set MIXER phantom +set MIXER fw_generic_wing # Provide ESC a constant 1000 us pulse set PWM_OUT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing index 1e9f4baea1..8d2f5f1f1b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing @@ -48,7 +48,7 @@ param set-default PWM_MAIN_DISARM 1000 set MAV_TYPE 1 # Set mixer. -set MIXER wingwing +set MIXER fw_generic_wing # Provide ESC a constant 1000 us pulse. set PWM_OUT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 index 192b53a6ca..57fe7d625d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 @@ -27,5 +27,4 @@ param set-default FW_AIRSPD_TRIM 15 param set-default NAV_LOITER_RAD 150 - -set MIXER FX79 +set MIXER fw_generic_wing diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon index 0c8f8fdd44..5a11ecd3d0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon +++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon @@ -49,8 +49,7 @@ param set-default PWM_MAIN_DISARM 1000 # the payload bay is pitched up about 7 degrees param set-default SENS_BOARD_Y_OFF 11.9 - -set MIXER phantom +set MIXER fw_generic_wing # Provide ESC a constant 1000 us pulse set PWM_OUT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha index d0cbc03682..5e3b6e9845 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha @@ -63,6 +63,6 @@ param set-default PWM_MAIN_REV2 1 param set-default PWM_MAIN_MIN 900 param set-default PWM_MAIN_MAX 2100 +set MIXER fw_generic_wing -set MIXER caipi set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt index df861065a2..1be2ff75ab 100644 --- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt @@ -39,7 +39,6 @@ px4_add_romfs_files( AETRFG.main.mix babyshark.main.mix blade130.main.mix - caipi.main.mix CCPM.main.mix claire.aux.mix claire.main.mix @@ -53,7 +52,6 @@ px4_add_romfs_files( firefly6.aux.mix firefly6.main.mix fw_generic_wing.main.mix - FX79.main.mix generic_diff_rover.main.mix hexa_cox.main.mix hexa_+.main.mix @@ -66,7 +64,6 @@ px4_add_romfs_files( octo_+.main.mix octo_x.main.mix pass.aux.mix - phantom.main.mix quad_dc.main.mix quad_h.main.mix quad_+.main.mix @@ -94,5 +91,4 @@ px4_add_romfs_files( vtol_convergence.main.mix vtol_delta.aux.mix vtol_tailsitter_duo.main.mix - wingwing.main.mix ) diff --git a/ROMFS/px4fmu_common/mixers/FX79.main.mix b/ROMFS/px4fmu_common/mixers/FX79.main.mix deleted file mode 100644 index 85868074c2..0000000000 --- a/ROMFS/px4fmu_common/mixers/FX79.main.mix +++ /dev/null @@ -1,52 +0,0 @@ -FX-79 Delta-wing mixer for PX4FMU -================================= - -# @board px4_fmu-v2 exclude - -Designed for FX-79. - -TODO (sjwilks): Add mixers for flaps. - -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 -S: 0 0 8500 8500 0 -10000 10000 -S: 0 1 9500 9500 0 -10000 10000 - -M: 2 -S: 0 0 8500 8500 0 -10000 10000 -S: 0 1 -9500 -9500 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 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/caipi.main.mix b/ROMFS/px4fmu_common/mixers/caipi.main.mix deleted file mode 100644 index 68eea39b51..0000000000 --- a/ROMFS/px4fmu_common/mixers/caipi.main.mix +++ /dev/null @@ -1,48 +0,0 @@ -Delta-wing mixer -=========================== - -Designed for TBS Caipirinha - -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 -S: 0 0 8000 8000 0 -10000 10000 -S: 0 1 9000 9000 0 -10000 10000 - -M: 2 -S: 0 0 8000 8000 0 -10000 10000 -S: 0 1 -9000 -9000 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 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/phantom.main.mix b/ROMFS/px4fmu_common/mixers/phantom.main.mix deleted file mode 100644 index 0e5c2df55c..0000000000 --- a/ROMFS/px4fmu_common/mixers/phantom.main.mix +++ /dev/null @@ -1,45 +0,0 @@ -Phantom FX-61 mixer -=================== - -This file defines mixers suitable for controlling a delta wing aircraft using -PX4/Pixhawk. The configuration assumes the elevon servos are connected to -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 are set so that pitch will have more travel than roll. - -M: 2 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 6500 6500 0 -10000 10000 - -M: 2 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 -6500 -6500 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 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/wingwing.main.mix b/ROMFS/px4fmu_common/mixers/wingwing.main.mix deleted file mode 100644 index 8b937599a2..0000000000 --- a/ROMFS/px4fmu_common/mixers/wingwing.main.mix +++ /dev/null @@ -1,48 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -Designed for Wing Wing Z-84 - -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 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 6500 6500 0 -10000 10000 - -M: 2 -S: 0 0 -6000 -6000 0 -10000 10000 -S: 0 1 -6500 -6500 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 -S: 0 3 0 20000 -10000 -10000 10000