mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 17:37:34 +08:00
Merge branch 'master' of github.com:PX4/Firmware into pwm_ioctls
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,110 @@
|
||||
#!nsh
|
||||
#
|
||||
# USB HIL start
|
||||
#
|
||||
|
||||
echo "[HIL] HILS quadrotor + starting.."
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.0
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.05
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 3.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.0
|
||||
param set MC_YAWPOS_P 2.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_P 0.05
|
||||
param set NAV_TAKEOFF_ALT 3.0
|
||||
param set MPC_TILT_MAX 0.5
|
||||
param set MPC_THR_MAX 0.5
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_XY_D 0
|
||||
param set MPC_XY_P 0.5
|
||||
param set MPC_XY_VEL_D 0
|
||||
param set MPC_XY_VEL_I 0
|
||||
param set MPC_XY_VEL_MAX 3
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_Z_D 0
|
||||
param set MPC_Z_P 1
|
||||
param set MPC_Z_VEL_D 0
|
||||
param set MPC_Z_VEL_I 0.1
|
||||
param set MPC_Z_VEL_MAX 2
|
||||
param set MPC_Z_VEL_P 0.20
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
# Allow USB some time to come up
|
||||
sleep 1
|
||||
# Tell MAVLink that this link is "fast"
|
||||
mavlink start -b 230400 -d /dev/ttyACM0
|
||||
|
||||
# Create a fake HIL /dev/pwm_output interface
|
||||
hil mode_pwm
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Check if we got an IO
|
||||
#
|
||||
if px4io start
|
||||
then
|
||||
echo "IO started"
|
||||
else
|
||||
fmu mode_serial
|
||||
echo "FMU started"
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
att_pos_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
|
||||
|
||||
#
|
||||
# Start position estimator
|
||||
#
|
||||
position_estimator_inav start
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Start position control
|
||||
#
|
||||
multirotor_pos_control start
|
||||
|
||||
echo "[HIL] setup done, running"
|
||||
|
||||
@@ -0,0 +1,103 @@
|
||||
#!nsh
|
||||
#
|
||||
# USB HIL start
|
||||
#
|
||||
|
||||
echo "[HIL] HILStar starting.."
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
|
||||
param set FW_P_D 0
|
||||
param set FW_P_I 0
|
||||
param set FW_P_IMAX 15
|
||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
|
||||
param set FW_P_P 60
|
||||
param set FW_P_RMAX_NEG 0
|
||||
param set FW_P_RMAX_POS 0
|
||||
param set FW_P_ROLLFF 1.1
|
||||
param set FW_R_D 0
|
||||
param set FW_R_I 5
|
||||
param set FW_R_IMAX 20
|
||||
param set FW_R_P 100
|
||||
param set FW_R_RMAX 100
|
||||
param set FW_THR_CRUISE 0.65
|
||||
param set FW_THR_MAX 1
|
||||
param set FW_THR_MIN 0
|
||||
param set FW_T_SINK_MAX 5.0
|
||||
param set FW_T_SINK_MIN 4.0
|
||||
param set FW_Y_ROLLFF 1.1
|
||||
param set FW_L1_PERIOD 16
|
||||
param set RC_SCALE_ROLL 1.0
|
||||
param set RC_SCALE_PITCH 1.0
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
# Allow USB some time to come up
|
||||
sleep 1
|
||||
# Tell MAVLink that this link is "fast"
|
||||
mavlink start -b 230400 -d /dev/ttyACM0
|
||||
|
||||
# Create a fake HIL /dev/pwm_output interface
|
||||
hil mode_pwm
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Check if we got an IO
|
||||
#
|
||||
if px4io start
|
||||
then
|
||||
echo "IO started"
|
||||
else
|
||||
fmu mode_serial
|
||||
echo "FMU started"
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
att_pos_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
set MODE autostart
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
|
||||
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
|
||||
then
|
||||
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
|
||||
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
|
||||
else
|
||||
echo "Using /etc/mixers/FMU_AERT.mix"
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
|
||||
fi
|
||||
|
||||
|
||||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
|
||||
echo "[HIL] setup done, running"
|
||||
|
||||
@@ -0,0 +1,95 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] PX4FMU v1, v2 with or without IO on Hex"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.004
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.12
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 7.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.0
|
||||
param set MC_YAWPOS_P 2.0
|
||||
param set MC_YAWRATE_D 0.005
|
||||
param set MC_YAWRATE_I 0.2
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set NAV_TAKEOFF_ALT 3.0
|
||||
param set MPC_TILT_MAX 0.5
|
||||
param set MPC_THR_MAX 0.7
|
||||
param set MPC_THR_MIN 0.3
|
||||
param set MPC_XY_D 0
|
||||
param set MPC_XY_P 0.5
|
||||
param set MPC_XY_VEL_D 0
|
||||
param set MPC_XY_VEL_I 0
|
||||
param set MPC_XY_VEL_MAX 3
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_Z_D 0
|
||||
param set MPC_Z_P 1
|
||||
param set MPC_Z_VEL_D 0
|
||||
param set MPC_Z_VEL_I 0.1
|
||||
param set MPC_Z_VEL_MAX 2
|
||||
param set MPC_Z_VEL_P 0.20
|
||||
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
|
||||
# 13 = hexarotor
|
||||
#
|
||||
param set MAV_TYPE 13
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
usleep 5000
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Set PWM values for DJI ESCs
|
||||
px4io idle 900 900 900 900 900 900
|
||||
px4io min 1200 1200 1200 1200 1200 1200
|
||||
px4io max 1900 1900 1900 1900 1900 1900
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
fmu mode_pwm
|
||||
param set BAT_V_SCALING 0.004593
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output $MIXER
|
||||
|
||||
#
|
||||
# Set PWM output frequency to 400 Hz
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
@@ -0,0 +1,86 @@
|
||||
#!nsh
|
||||
|
||||
echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
set EXIT_ON_END no
|
||||
|
||||
#
|
||||
# Start and configure PX4IO or FMU interface
|
||||
#
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start
|
||||
|
||||
commander start
|
||||
|
||||
sh /etc/init.d/rc.io
|
||||
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
|
||||
px4io limit 100
|
||||
else
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS0
|
||||
|
||||
commander start
|
||||
|
||||
fmu mode_pwm
|
||||
param set BAT_V_SCALING 0.004593
|
||||
set EXIT_ON_END yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start logging (depends on sensors)
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude and position estimator
|
||||
#
|
||||
att_pos_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
|
||||
then
|
||||
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
|
||||
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
|
||||
else
|
||||
echo "Using /etc/mixers/FMU_Q.mix"
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
fi
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
then
|
||||
exit
|
||||
fi
|
||||
@@ -52,5 +52,5 @@ attitude_estimator_ekf start
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
md25 start 3 0x58
|
||||
roboclaw start /dev/ttyS2 128 1200
|
||||
segway start
|
||||
|
||||
@@ -58,7 +58,7 @@ usleep 10000
|
||||
if px4io detect
|
||||
then
|
||||
# Start MAVLink (depends on orb)
|
||||
mavlink start -d /dev/ttyS1 -b 115200
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
commander start
|
||||
@@ -67,7 +67,7 @@ then
|
||||
else
|
||||
fmu mode_pwm
|
||||
# Start MAVLink (on UART1 / ttyS0)
|
||||
mavlink start -d /dev/ttyS1 -b 115200
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
param set BAT_V_SCALING 0.004593
|
||||
set EXIT_ON_END yes
|
||||
|
||||
@@ -108,25 +108,41 @@ then
|
||||
|
||||
if param compare SYS_AUTOSTART 1000
|
||||
then
|
||||
sh /etc/init.d/1000_rc_fw.hil
|
||||
sh /etc/init.d/1000_rc_fw_easystar.hil
|
||||
set MODE custom
|
||||
else
|
||||
if param compare SYS_AUTOSTART 1001
|
||||
then
|
||||
sh /etc/init.d/1001_rc_quad.hil
|
||||
set MODE custom
|
||||
else
|
||||
if param compare SYS_AUTOSTART 1002
|
||||
then
|
||||
sh /etc/init.d/1002_rc_fw_state.hil
|
||||
set MODE custom
|
||||
else
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1001
|
||||
then
|
||||
sh /etc/init.d/1001_rc_quad.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1002
|
||||
then
|
||||
sh /etc/init.d/1002_rc_fw_state.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1003
|
||||
then
|
||||
sh /etc/init.d/1003_rc_quad_+.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1004
|
||||
then
|
||||
sh /etc/init.d/1004_rc_fw_Rascal110.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if [ $MODE != custom ]
|
||||
then
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Upgrade PX4IO firmware
|
||||
#
|
||||
@@ -177,6 +193,20 @@ then
|
||||
sh /etc/init.d/11_dji_f450
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 12
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_hex_x.mix
|
||||
sh /etc/init.d/12-13_hex
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 13
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_hex_+.mix
|
||||
sh /etc/init.d/12-13_hex
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 15
|
||||
then
|
||||
@@ -248,13 +278,25 @@ then
|
||||
sh /etc/init.d/30_io_camflyer
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
|
||||
if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 32
|
||||
then
|
||||
sh /etc/init.d/32_skywalker_x5
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 40
|
||||
then
|
||||
sh /etc/init.d/40_io_segway
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 100
|
||||
then
|
||||
sh /etc/init.d/100_mpx_easystar
|
||||
|
||||
@@ -62,3 +62,23 @@ 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
|
||||
|
||||
@@ -58,3 +58,23 @@ 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
|
||||
|
||||
@@ -50,3 +50,21 @@ 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
|
||||
|
||||
@@ -51,3 +51,23 @@ 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 / 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
|
||||
|
||||
@@ -48,3 +48,22 @@ M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Gimbal / 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
|
||||
|
||||
|
||||
@@ -48,3 +48,23 @@ 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
|
||||
|
||||
|
||||
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
|
||||
are mixed 100%.
|
||||
|
||||
R: 6+ 10000 10000 10000 0
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
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
|
||||
|
||||
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration. All c
|
||||
are mixed 100%.
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
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
|
||||
|
||||
@@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+ 10000 10000 10000 0
|
||||
|
||||
|
||||
Gimbal / 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
|
||||
|
||||
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration. All co
|
||||
are mixed 100%.
|
||||
|
||||
R: 4v 10000 10000 10000 0
|
||||
|
||||
Gimbal / 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
|
||||
|
||||
@@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
|
||||
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
|
||||
|
||||
R: 4w 10000 10000 10000 0
|
||||
|
||||
Gimbal / 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
|
||||
|
||||
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration. All co
|
||||
are mixed 100%.
|
||||
|
||||
R: 4x 10000 10000 10000 0
|
||||
|
||||
Gimbal / 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
|
||||
|
||||
Reference in New Issue
Block a user