From bf0a1f05fb6feeb4075f0c267ee7900be7bc3080 Mon Sep 17 00:00:00 2001 From: Ricardo Marques Date: Wed, 20 Jun 2018 15:35:05 +0100 Subject: [PATCH] Tilt-Quadrotor Mixer and Airframe files (#9496) --- ROMFS/px4fmu_common/init.d/4100_tiltquadrotor | 35 +++++++++++++++++ ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix | 38 +++++++++++++++++++ ROMFS/px4fmu_common/mixers/tilt_quad.main.mix | 38 +++++++++++++++++++ 3 files changed, 111 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/4100_tiltquadrotor create mode 100644 ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix create mode 100644 ROMFS/px4fmu_common/mixers/tilt_quad.main.mix diff --git a/ROMFS/px4fmu_common/init.d/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/4100_tiltquadrotor new file mode 100644 index 0000000000..c5fa029fdd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4100_tiltquadrotor @@ -0,0 +1,35 @@ +#!nsh +# +# @name Tilt-Quadrotor +# +# @url http://www.alivaero.com/the-project.html +# +# @type Tilt-Quad +# @class Copter +# +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 +# @output AUX1 Outer servo motor for rotor 2 arm +# @output AUX2 Outer servo motor for rotor 4 arm +# @output AUX3 Inner servo motor for rotor 2 arm +# @output AUX4 Inner servo motor for rotor 4 arm +# +# @maintainer Ricardo Marques +# + +sh /etc/init.d/rc.mc_defaults + +#Parameters here: +param set LED_RGB_MAXBRT 8 + + +# Configure this as Quadrotor +# set MAV_TYPE 14 + +# Set mixer +set MIXER tilt_quad +set MIXER_AUX tilt_quad + +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix b/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix new file mode 100644 index 0000000000..6e6c1bb644 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix @@ -0,0 +1,38 @@ +Tilt-Quadrotor mixer for PX4FMU (2/2) V2.0 +=========================== + +This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration. + + +# @output AUX1 Outer servo motor for rotor 2 arm +# @output AUX2 Outer servo motor for rotor 4 arm +# @output AUX3 Inner servo motor for rotor 2 arm +# @output AUX4 Inner servo motor for rotor 4 arm + +Servo 1 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -1000 -1000 0 -10000 10000 + +Servo 2 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 1000 1000 0 -10000 10000 + +Servo 3 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 + +Servo 4 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 +S: 3 5 10000 10000 0 -10000 10000 + + diff --git a/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix b/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix new file mode 100644 index 0000000000..9ae93340a5 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/tilt_quad.main.mix @@ -0,0 +1,38 @@ +Tilt-Quadrotor mixer for PX4FMU (1/2) V2.0 +=========================== + +This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration. + +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 + +Motor 1 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + +Motor 2 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + +Motor 3 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + +Motor 4 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -10000 -10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 +