diff --git a/ROMFS/px4fmu_common/init.d/2101_fw_AERT b/ROMFS/px4fmu_common/init.d/2101_fw_AERT index c5bb1477c5..d13514d03a 100644 --- a/ROMFS/px4fmu_common/init.d/2101_fw_AERT +++ b/ROMFS/px4fmu_common/init.d/2101_fw_AERT @@ -6,8 +6,8 @@ # # @output MAIN1 aileron # @output MAIN2 elevator -# @output MAIN4 rudder -# @output MAIN3 throttle +# @output MAIN3 rudder +# @output MAIN4 throttle # @output MAIN5 flaps # # @output AUX1 feed-through of RC AUX1 channel diff --git a/ROMFS/px4fmu_common/init.d/2105_maja b/ROMFS/px4fmu_common/init.d/2105_maja new file mode 100644 index 0000000000..af27eca5d9 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/2105_maja @@ -0,0 +1,48 @@ +#!nsh +# +# @name Bormatec Maja +# +# @type Standard Plane +# +# @output MAIN1 aileron +# @output MAIN2 elevator +# @output MAIN3 rudder +# @output MAIN4 throttle +# @output MAIN5 wheel +# +# @output AUX1 feed-through of RC AUX1 channel +# @output AUX2 feed-through of RC AUX2 channel +# @output AUX3 feed-through of RC AUX3 channel +# +# @maintainer Andreas Antener +# + +sh /etc/init.d/rc.fw_defaults + +if [ $AUTOCNF == yes ] +then + param set FW_AIRSPD_MIN 10 + param set FW_AIRSPD_TRIM 15 + param set FW_AIRSPD_MAX 20 + + param set FW_MAN_P_MAX 55 + param set FW_MAN_R_MAX 55 + param set FW_R_LIM 55 + + param set FW_WR_FF 0.2 + param set FW_WR_I 0.2 + param set FW_WR_IMAX 0.8 + param set FW_WR_P 1 + param set FW_W_RMAX 0 + + # set disarmed value for the ESC + param set PWM_DISARMED 1000 +fi + +set MIXER AERTW + +# use PWM parameters for throttle channel +set PWM_OUT 4 +set PWM_DISARMED p:PWM_DISARMED +set PWM_MIN p:PWM_MIN +set PWM_MAX p:PWM_MAX diff --git a/ROMFS/px4fmu_common/mixers/AERTW.main.mix b/ROMFS/px4fmu_common/mixers/AERTW.main.mix new file mode 100644 index 0000000000..af548826dc --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/AERTW.main.mix @@ -0,0 +1,95 @@ +Aileron/rudder/elevator/throttle/wheel mixer for PX4FMU +======================================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU. +The configuration assumes the aileron servo(s) are connected to PX4FMU servo +output 0, the elevator to output 1, the rudder to output 2, the throttle +to output 3 and the wheel to output 4. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch), 2 (yaw) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +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. + +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 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +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 2 10000 10000 0 -10000 10000 + +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 + +Wheel mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the wheel 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 2 10000 10000 0 -10000 10000 + + +Gimbal / flaps / payload mixer for last three channels, +using the payload control group +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 2 2 10000 10000 0 -10000 10000 diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 711e888416..b9f24a6eb2 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -49,6 +49,7 @@ * * @author Lorenz Meier * @author Thomas Gubler + * @author Andreas Antener */ #include