mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 14:43:34 +08:00
Merged master
This commit is contained in:
Lorenz Meier
@@ -20,7 +20,7 @@ then
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param set MC_PITCHRATE_D 0.0025
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.28
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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fi
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@@ -18,9 +18,9 @@ then
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 0.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.0
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param set MC_YAW_P 2.5
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param set MC_YAWRATE_P 0.25
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param set MC_YAWRATE_I 0.25
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param set MC_YAWRATE_D 0.0
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param set BAT_V_SCALING 0.00989
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@@ -30,3 +30,6 @@ fi
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set MIXER FMU_quad_w
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set PWM_OUTPUTS 1234
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set PWM_MIN 1200
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set PWM_MAX 1950
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@@ -0,0 +1,35 @@
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#!nsh
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#
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# Steadidrone QU4D
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#
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# Thomas Gubler <thomasgubler@gmail.com>
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# Lorenz Meier <lm@inf.ethz.ch>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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# TODO tune roll/pitch separately
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.13
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.004
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 0.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0.0
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param set BAT_N_CELLS 4
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fi
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set MIXER FMU_quad_w
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set PWM_MIN 1210
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set PWM_MAX 2100
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set PWM_OUTPUTS 1234
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@@ -26,15 +26,6 @@ then
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param set FW_RR_P 0.1
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param set FW_R_LIM 45
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param set FW_R_RMAX 0
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param set FW_T_CLMB_MAX 5
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param set FW_T_HRATE_P 0.02
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param set FW_T_PTCH_DAMP 0
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param set FW_T_RLL2THR 15
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param set FW_T_SINK_MAX 5
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param set FW_T_SINK_MIN 2
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param set FW_T_SRATE_P 0.01
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param set FW_T_TIME_CONST 3
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param set FW_T_VERT_ACC 7
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param set FW_YR_FF 0.0
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param set FW_YR_I 0
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param set FW_YR_IMAX 0.2
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@@ -1,7 +1,5 @@
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#!nsh
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#
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# UNTESTED UNTESTED!
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#
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# Generic 10" Hexa coaxial geometry
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#
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# Lorenz Meier <lm@inf.ethz.ch>
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@@ -9,7 +7,7 @@
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sh /etc/init.d/rc.mc_defaults
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set MIXER hexa_cox
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set MIXER FMU_hexa_cox
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# We only can run one channel group with one rate, so set all 8 channels
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set PWM_OUTPUTS 12345678
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@@ -7,6 +7,6 @@
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sh /etc/init.d/rc.mc_defaults
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set MIXER octo_cox
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set MIXER FMU_octo_cox
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set PWM_OUTPUTS 12345678
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@@ -5,4 +5,4 @@
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sh /etc/init.d/rc.fw_defaults
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set MIXER FMU_RET
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set MIXER easystar
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@@ -10,8 +10,8 @@ sh /etc/init.d/rc.fw_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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param set FW_AIRSPD_MIN 13
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param set FW_AIRSPD_TRIM 18
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param set FW_AIRSPD_MAX 40
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param set FW_AIRSPD_TRIM 15
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param set FW_AIRSPD_MAX 25
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param set FW_ATT_TC 0.3
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param set FW_L1_DAMPING 0.75
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param set FW_L1_PERIOD 15
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@@ -23,17 +23,17 @@ then
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param set FW_P_LIM_MIN -50
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 0
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param set FW_P_ROLLFF 1
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param set FW_RR_FF 0.5
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param set FW_RR_I 0.02
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.08
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param set FW_R_LIM 70
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param set FW_R_LIM 50
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param set FW_R_RMAX 0
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param set FW_T_HRATE_P 0.01
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param set FW_T_RLL2THR 15
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param set FW_T_SRATE_P 0.01
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param set FW_T_TIME_CONST 5
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fi
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set MIXER FMU_Q
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set MIXER phantom
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# Provide ESC a constant 1000 us pulse
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set PWM_OUTPUTS 4
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set PWM_DISARMED 1000
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@@ -23,17 +23,13 @@ then
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param set FW_P_LIM_MIN -45
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 0
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param set FW_P_ROLLFF 1
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param set FW_RR_FF 0.3
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param set FW_RR_I 0
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.03
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param set FW_R_LIM 60
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param set FW_R_RMAX 0
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param set FW_T_HRATE_P 0.01
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param set FW_T_RLL2THR 15
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param set FW_T_SRATE_P 0.01
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param set FW_T_TIME_CONST 5
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fi
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set MIXER FMU_X5
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@@ -11,25 +11,38 @@ if [ $DO_AUTOCONFIG == yes ]
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then
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param set BAT_N_CELLS 2
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param set FW_AIRSPD_MAX 15
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param set FW_AIRSPD_MIN 7
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param set FW_AIRSPD_TRIM 11
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param set FW_AIRSPD_MIN 10
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param set FW_AIRSPD_TRIM 13
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param set FW_ATT_TC 0.3
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param set FW_L1_DAMPING 0.74
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param set FW_L1_PERIOD 12
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param set FW_L1_PERIOD 16
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param set FW_LND_ANG 15
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param set FW_LND_FLALT 5
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param set FW_LND_HHDIST 15
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param set FW_LND_HVIRT 13
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param set FW_LND_TLALT 5
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param set FW_THR_LND_MAX 0
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param set FW_P_ROLLFF 2
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param set FW_PR_FF 0.6
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param set FW_PR_IMAX 0.2
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param set FW_PR_P 0.06
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param set FW_PR_FF 0.35
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param set FW_PR_I 0.005
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param set FW_PR_IMAX 0.4
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param set FW_PR_P 0.08
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param set FW_RR_FF 0.6
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param set FW_RR_I 0.005
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.09
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param set FW_THR_CRUISE 0.65
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param set FW_RR_P 0.04
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param set MT_TKF_PIT_MAX 30.0
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param set MT_ACC_D 0.2
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param set MT_ACC_P 0.6
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param set MT_A_LP 0.5
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param set MT_PIT_OFF 0.1
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param set MT_PIT_I 0.1
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param set MT_THR_OFF 0.65
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param set MT_THR_I 0.35
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param set MT_THR_P 0.2
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param set MT_THR_FF 1.5
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fi
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set MIXER FMU_Q
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set MIXER wingwing
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# Provide ESC a constant 1000 us pulse
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set PWM_OUTPUTS 4
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set PWM_DISARMED 1000
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@@ -33,10 +33,6 @@ then
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param set FW_RR_P 0.03
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param set FW_R_LIM 60
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param set FW_R_RMAX 0
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param set FW_T_HRATE_P 0.01
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param set FW_T_RLL2THR 15
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param set FW_T_SRATE_P 0.01
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param set FW_T_TIME_CONST 5
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fi
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set MIXER FMU_Q
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@@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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# Set all params here, then disable autoconfig
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param set MC_ROLL_P 5.0
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param set MC_ROLLRATE_P 0.13
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0
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param set MC_PITCH_P 5.0
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0
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param set MC_YAW_P 1.0
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param set MC_YAWRATE_P 0.15
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param set MC_YAWRATE_I 0.0
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param set MC_ROLL_P 6.0
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param set MC_ROLLRATE_P 0.14
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param set MC_ROLLRATE_I 0.1
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param set MC_ROLLRATE_D 0.002
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param set MC_PITCH_P 6.0
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param set MC_PITCHRATE_P 0.14
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param set MC_PITCHRATE_I 0.1
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param set MC_PITCHRATE_D 0.002
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param set MC_YAW_P 2.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.2
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.15
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param set MC_YAW_FF 0.8
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param set BAT_V_SCALING 0.00838095238
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fi
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@@ -19,9 +19,9 @@ then
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param set MC_PITCHRATE_D 0.003
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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fi
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set PWM_MIN 1175
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set PWM_MAX 1900
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set PWM_MIN 1200
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set PWM_MAX 1950
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@@ -20,9 +20,9 @@ then
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param set MC_PITCHRATE_D 0.003
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.2
|
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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fi
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set PWM_MIN 1175
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set PWM_MAX 1900
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set PWM_MIN 1230
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set PWM_MAX 1950
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@@ -0,0 +1,27 @@
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#!nsh
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#
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# F450-sized quadrotor with CAN
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
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#
|
||||
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||||
sh /etc/init.d/4001_quad_x
|
||||
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||||
if [ $DO_AUTOCONFIG == yes ]
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then
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# TODO REVIEW
|
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.1
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param set MC_ROLLRATE_I 0.0
|
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param set MC_ROLLRATE_D 0.003
|
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param set MC_PITCH_P 7.0
|
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param set MC_PITCHRATE_P 0.1
|
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param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.003
|
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param set MC_YAW_P 2.8
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param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_D 0.0
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||||
fi
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set OUTPUT_MODE uavcan_esc
|
||||
@@ -0,0 +1,28 @@
|
||||
#!nsh
|
||||
#
|
||||
# Hobbyking Micro Integrated PCB Quadcopter
|
||||
# with SimonK ESC firmware and Mystery A1510 motors
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
#
|
||||
echo "HK Micro PCB Quad"
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_I 0.0
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_D 0.0
|
||||
fi
|
||||
|
||||
set PWM_MIN 1200
|
||||
@@ -21,6 +21,12 @@
|
||||
# Simulation setups
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 901
|
||||
then
|
||||
sh /etc/init.d/901_bottle_drop_test.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1000
|
||||
then
|
||||
sh /etc/init.d/1000_rc_fw_easystar.hil
|
||||
@@ -141,6 +147,16 @@ then
|
||||
sh /etc/init.d/4011_dji_f450
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 4012
|
||||
then
|
||||
sh /etc/init.d/4012_quad_x_can
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 4020
|
||||
then
|
||||
sh /etc/init.d/4020_hk_micro_pcb
|
||||
fi
|
||||
|
||||
#
|
||||
# Quad +
|
||||
#
|
||||
@@ -200,6 +216,11 @@ then
|
||||
sh /etc/init.d/10016_3dr_iris
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10017
|
||||
then
|
||||
sh /etc/init.d/10017_steadidrone_qu4d
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa Coaxial
|
||||
#
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
#
|
||||
# Start the attitude and position estimator
|
||||
#
|
||||
fw_att_pos_estimator start
|
||||
ekf_att_pos_estimator start
|
||||
|
||||
#
|
||||
# Start attitude controller
|
||||
@@ -16,4 +16,4 @@ fw_pos_control_l1 start
|
||||
|
||||
bottle_drop start
|
||||
fmu mode_pwm
|
||||
mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
|
||||
mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
|
||||
|
||||
@@ -11,6 +11,8 @@ then
|
||||
param set NAV_RTL_ALT 100
|
||||
param set NAV_RTL_LAND_T -1
|
||||
param set NAV_ACCEPT_RAD 50
|
||||
param set RC_SCALE_ROLL 1
|
||||
param set RC_SCALE_PITCH 1
|
||||
param set FW_T_HRATE_P 0.01
|
||||
param set FW_T_RLL2THR 15
|
||||
param set FW_T_SRATE_P 0.01
|
||||
param set FW_T_TIME_CONST 5
|
||||
fi
|
||||
@@ -24,6 +24,11 @@ then
|
||||
else
|
||||
set OUTPUT_DEV /dev/pwm_output
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == uavcan_esc ]
|
||||
then
|
||||
set OUTPUT_DEV /dev/uavcan/esc
|
||||
fi
|
||||
|
||||
if mixer load $OUTPUT_DEV $MIXER_FILE
|
||||
then
|
||||
|
||||
@@ -11,7 +11,7 @@ px4io recovery
|
||||
# Adjust PX4IO update rate limit
|
||||
#
|
||||
set PX4IO_LIMIT 400
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set PX4IO_LIMIT 200
|
||||
fi
|
||||
|
||||
@@ -5,12 +5,12 @@
|
||||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
echo "Start sdlog2 at 50Hz"
|
||||
sdlog2 start -r 50 -a -b 8 -t
|
||||
sdlog2 start -r 50 -a -b 4 -t
|
||||
else
|
||||
echo "Start sdlog2 at 200Hz"
|
||||
sdlog2 start -r 200 -a -b 16 -t
|
||||
sdlog2 start -r 200 -a -b 22 -t
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
#
|
||||
|
||||
attitude_estimator_ekf start
|
||||
#ekf_att_pos_estimator start
|
||||
position_estimator_inav start
|
||||
|
||||
mc_att_control start
|
||||
|
||||
@@ -14,7 +14,7 @@ then
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAW_FF 0.5
|
||||
|
||||
@@ -32,9 +32,16 @@ then
|
||||
param set MPC_Z_VEL_D 0.0
|
||||
param set MPC_Z_VEL_MAX 3
|
||||
param set MPC_Z_FF 0.5
|
||||
param set MPC_TILT_MAX 1.0
|
||||
param set MPC_TILTMAX_AIR 45.0
|
||||
param set MPC_TILTMAX_LND 15.0
|
||||
param set MPC_LAND_SPEED 1.0
|
||||
param set MPC_LAND_TILT 0.3
|
||||
|
||||
param set PE_VELNE_NOISE 0.5
|
||||
param set PE_VELD_NOISE 0.7
|
||||
param set PE_POSNE_NOISE 0.5
|
||||
param set PE_POSD_NOISE 1.0
|
||||
|
||||
param set NAV_ACCEPT_RAD 2.0
|
||||
fi
|
||||
|
||||
set PWM_RATE 400
|
||||
|
||||
@@ -6,27 +6,51 @@
|
||||
ms5611 start
|
||||
adc start
|
||||
|
||||
# Mag might be external
|
||||
if hmc5883 start
|
||||
if mpu6000 -X start
|
||||
then
|
||||
echo "[init] Using HMC5883"
|
||||
fi
|
||||
|
||||
if mpu6000 start
|
||||
then
|
||||
echo "[init] Using MPU6000"
|
||||
fi
|
||||
|
||||
if l3gd20 -X start
|
||||
then
|
||||
fi
|
||||
|
||||
if l3gd20 start
|
||||
then
|
||||
echo "[init] Using L3GD20(H)"
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V2
|
||||
# MAG selection
|
||||
if param compare SENS_EXT_MAG 2
|
||||
then
|
||||
if hmc5883 -I start
|
||||
then
|
||||
fi
|
||||
else
|
||||
# Use only external as primary
|
||||
if param compare SENS_EXT_MAG 1
|
||||
then
|
||||
if hmc5883 -X start
|
||||
then
|
||||
fi
|
||||
else
|
||||
# auto-detect the primary, prefer external
|
||||
if hmc5883 start
|
||||
then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4FMU_V2
|
||||
then
|
||||
if lsm303d -X start
|
||||
then
|
||||
fi
|
||||
|
||||
if lsm303d start
|
||||
then
|
||||
echo "[init] Using LSM303D"
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -37,11 +61,9 @@ then
|
||||
else
|
||||
if ets_airspeed start
|
||||
then
|
||||
echo "[init] Using ETS airspeed sensor (bus 3)"
|
||||
else
|
||||
if ets_airspeed start -b 1
|
||||
then
|
||||
echo "[init] Using ETS airspeed sensor (bus 1)"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -3,16 +3,28 @@
|
||||
# USB MAVLink start
|
||||
#
|
||||
|
||||
echo "Starting MAVLink on this USB console"
|
||||
|
||||
mavlink start -r 10000 -d /dev/ttyACM0
|
||||
mavlink start -r 20000 -d /dev/ttyACM0 -x
|
||||
# Enable a number of interesting streams we want via USB
|
||||
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
|
||||
usleep 100000
|
||||
|
||||
# Exit shell to make it available to MAVLink
|
||||
exit
|
||||
|
||||
+110
-97
@@ -20,7 +20,7 @@ echo "[init] Looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set LOG_FILE /fs/microsd/bootlog.txt
|
||||
echo "[init] microSD card mounted at /fs/microsd"
|
||||
echo "[init] microSD mounted: /fs/microsd"
|
||||
# Start playing the startup tune
|
||||
tone_alarm start
|
||||
else
|
||||
@@ -65,12 +65,12 @@ then
|
||||
# Start CDC/ACM serial driver
|
||||
#
|
||||
sercon
|
||||
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
|
||||
#
|
||||
# Load parameters
|
||||
#
|
||||
@@ -79,29 +79,33 @@ then
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
|
||||
param select $PARAM_FILE
|
||||
if param load
|
||||
then
|
||||
echo "[init] Parameters loaded: $PARAM_FILE"
|
||||
echo "[init] Params loaded: $PARAM_FILE"
|
||||
else
|
||||
echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
|
||||
echo "[init] ERROR: Params loading failed: $PARAM_FILE"
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled start
|
||||
then
|
||||
echo "[init] Using external RGB Led"
|
||||
echo "[init] RGB Led"
|
||||
else
|
||||
if blinkm start
|
||||
then
|
||||
echo "[init] Using blinkm"
|
||||
echo "[init] BlinkM"
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
if pca8574 start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Set default values
|
||||
#
|
||||
@@ -120,17 +124,23 @@ then
|
||||
set EXIT_ON_END no
|
||||
set MAV_TYPE none
|
||||
set LOAD_DEFAULT_APPS yes
|
||||
|
||||
set GPS yes
|
||||
set GPS_FAKE no
|
||||
|
||||
#
|
||||
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# We can't be sure the defaults haven't changed, so
|
||||
# if someone requests a re-configuration, we do it
|
||||
# cleanly from scratch (except autostart / autoconfig)
|
||||
param reset_nostart
|
||||
set DO_AUTOCONFIG yes
|
||||
else
|
||||
set DO_AUTOCONFIG no
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Set USE_IO flag
|
||||
#
|
||||
@@ -140,13 +150,13 @@ then
|
||||
else
|
||||
set USE_IO no
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART
|
||||
#
|
||||
if param compare SYS_AUTOSTART 0
|
||||
then
|
||||
echo "[init] Don't try to find autostart script"
|
||||
echo "[init] No autostart"
|
||||
else
|
||||
sh /etc/init.d/rc.autostart
|
||||
fi
|
||||
@@ -156,10 +166,10 @@ then
|
||||
#
|
||||
if [ -f $CONFIG_FILE ]
|
||||
then
|
||||
echo "[init] Reading config: $CONFIG_FILE"
|
||||
echo "[init] Config: $CONFIG_FILE"
|
||||
sh $CONFIG_FILE
|
||||
else
|
||||
echo "[init] Config file not found: $CONFIG_FILE"
|
||||
echo "[init] Config not found: $CONFIG_FILE"
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -170,9 +180,9 @@ then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
|
||||
set IO_PRESENT no
|
||||
|
||||
|
||||
if [ $USE_IO == yes ]
|
||||
then
|
||||
#
|
||||
@@ -184,19 +194,19 @@ then
|
||||
else
|
||||
set IO_FILE /etc/extras/px4io-v1_default.bin
|
||||
fi
|
||||
|
||||
|
||||
if px4io checkcrc $IO_FILE
|
||||
then
|
||||
echo "[init] PX4IO CRC OK"
|
||||
echo "PX4IO CRC OK" >> $LOG_FILE
|
||||
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] Trying to update"
|
||||
echo "PX4IO Trying to update" >> $LOG_FILE
|
||||
|
||||
|
||||
tone_alarm MLL32CP8MB
|
||||
|
||||
|
||||
if px4io forceupdate 14662 $IO_FILE
|
||||
then
|
||||
usleep 500000
|
||||
@@ -205,7 +215,7 @@ then
|
||||
echo "[init] PX4IO CRC OK, update successful"
|
||||
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
||||
tone_alarm MLL8CDE
|
||||
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] ERROR: PX4IO update failed"
|
||||
@@ -218,19 +228,13 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
if [ $IO_PRESENT == no ]
|
||||
then
|
||||
echo "[init] ERROR: PX4IO not found"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 901
|
||||
then
|
||||
sh /etc/init.d/901_bottle_drop_test.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
#
|
||||
# Set default output if not set
|
||||
@@ -250,9 +254,9 @@ then
|
||||
# Need IO for output but it not present, disable output
|
||||
set OUTPUT_MODE none
|
||||
echo "[init] ERROR: PX4IO not found, disabling output"
|
||||
|
||||
|
||||
# Avoid using ttyS0 for MAVLink on FMUv1
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
fi
|
||||
@@ -266,29 +270,44 @@ then
|
||||
if [ $HIL == yes ]
|
||||
then
|
||||
set OUTPUT_MODE hil
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
fi
|
||||
else
|
||||
# Try to get an USB console if not in HIL mode
|
||||
nshterm /dev/ttyACM0 &
|
||||
fi
|
||||
|
||||
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the Commander (needs to be this early for in-air-restarts)
|
||||
#
|
||||
commander start
|
||||
|
||||
|
||||
#
|
||||
# Start primary output
|
||||
#
|
||||
set TTYS1_BUSY no
|
||||
|
||||
|
||||
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
|
||||
if [ $OUTPUT_MODE != none ]
|
||||
then
|
||||
if [ $OUTPUT_MODE == io ]
|
||||
if [ $OUTPUT_MODE == uavcan_esc ]
|
||||
then
|
||||
if uavcan start 1
|
||||
then
|
||||
echo "CAN UP"
|
||||
else
|
||||
echo "CAN ERR"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
|
||||
then
|
||||
echo "[init] Use PX4IO PWM as primary output"
|
||||
if px4io start
|
||||
@@ -300,6 +319,7 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
|
||||
then
|
||||
echo "[init] Use FMU as primary output"
|
||||
@@ -310,8 +330,8 @@ then
|
||||
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V1
|
||||
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
|
||||
then
|
||||
@@ -323,6 +343,7 @@ then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == mkblctrl ]
|
||||
then
|
||||
echo "[init] Use MKBLCTRL as primary output"
|
||||
@@ -335,7 +356,7 @@ then
|
||||
then
|
||||
set MKBLCTRL_ARG "-mkmode +"
|
||||
fi
|
||||
|
||||
|
||||
if mkblctrl $MKBLCTRL_ARG
|
||||
then
|
||||
echo "[init] MKBLCTRL started"
|
||||
@@ -343,8 +364,9 @@ then
|
||||
echo "[init] ERROR: MKBLCTRL start failed"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == hil ]
|
||||
then
|
||||
echo "[init] Use HIL as primary output"
|
||||
@@ -356,7 +378,7 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start IO or FMU for RC PPM input if needed
|
||||
#
|
||||
@@ -383,8 +405,8 @@ then
|
||||
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V1
|
||||
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
|
||||
then
|
||||
@@ -398,64 +420,50 @@ then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# MAVLink
|
||||
#
|
||||
|
||||
if [ $MAVLINK_FLAGS == default ]
|
||||
then
|
||||
if [ $HIL == yes ]
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
if [ $TTYS1_BUSY == yes ]
|
||||
then
|
||||
sleep 1
|
||||
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
|
||||
usleep 5000
|
||||
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
|
||||
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
|
||||
|
||||
# Exit from nsh to free port for mavlink
|
||||
set EXIT_ON_END yes
|
||||
else
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
if [ $TTYS1_BUSY == yes ]
|
||||
then
|
||||
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
|
||||
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
|
||||
usleep 5000
|
||||
|
||||
# Exit from nsh to free port for mavlink
|
||||
set EXIT_ON_END yes
|
||||
else
|
||||
# Start MAVLink on default port: ttyS1
|
||||
set MAVLINK_FLAGS "-r 1000"
|
||||
usleep 5000
|
||||
fi
|
||||
# Start MAVLink on default port: ttyS1
|
||||
set MAVLINK_FLAGS "-r 1000"
|
||||
fi
|
||||
fi
|
||||
|
||||
mavlink start $MAVLINK_FLAGS
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
|
||||
#
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
echo "[init] Start sensors"
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
if [ $HIL == no ]
|
||||
#
|
||||
# Start logging in all modes, including HIL
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
if [ $GPS == yes ]
|
||||
then
|
||||
echo "[init] Start logging"
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
echo "[init] Start GPS"
|
||||
gps start
|
||||
if [ $GPS_FAKE == yes ]
|
||||
then
|
||||
echo "[init] Faking GPS"
|
||||
gps start -f
|
||||
else
|
||||
gps start
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start up ARDrone Motor interface
|
||||
#
|
||||
@@ -470,24 +478,24 @@ then
|
||||
if [ $VEHICLE_TYPE == fw ]
|
||||
then
|
||||
echo "[init] Vehicle type: FIXED WING"
|
||||
|
||||
|
||||
if [ $MIXER == none ]
|
||||
then
|
||||
# Set default mixer for fixed wing if not defined
|
||||
set MIXER FMU_AERT
|
||||
fi
|
||||
|
||||
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
||||
set MAV_TYPE 1
|
||||
fi
|
||||
|
||||
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
|
||||
# Start standard fixedwing apps
|
||||
if [ $LOAD_DEFAULT_APPS == yes ]
|
||||
then
|
||||
@@ -522,7 +530,7 @@ then
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER == hexa_cox ]
|
||||
if [ $MIXER == FMU_hexa_cox ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
@@ -535,7 +543,7 @@ then
|
||||
set MAV_TYPE 14
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
@@ -543,10 +551,10 @@ then
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
|
||||
# Start standard multicopter apps
|
||||
if [ $LOAD_DEFAULT_APPS == yes ]
|
||||
then
|
||||
@@ -554,6 +562,11 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Generic setup (autostart ID not found)
|
||||
#
|
||||
@@ -569,7 +582,7 @@ then
|
||||
echo "[init] Starting addons script: $EXTRAS_FILE"
|
||||
sh $EXTRAS_FILE
|
||||
else
|
||||
echo "[init] Addons script not found: $EXTRAS_FILE"
|
||||
echo "[init] No addons script: $EXTRAS_FILE"
|
||||
fi
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
|
||||
@@ -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.
|
||||
@@ -0,0 +1,31 @@
|
||||
EASYSTAR / EASYSTAR II MIXER
|
||||
============================
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
One output - would be easy to add support for 2 servos
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,67 @@
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -6000 -6000 0 -10000 10000
|
||||
S: 0 1 6500 6500 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Gimbal / flaps / payload mixer for last four channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
@@ -0,0 +1,51 @@
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -6000 -6000 0 -10000 10000
|
||||
S: 0 1 6500 6500 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
Reference in New Issue
Block a user