From e28f8a7f2e181680353cd23ed5c62c4e9b5858fc Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Tue, 5 Feb 2019 20:33:27 +0100 Subject: [PATCH] VTOL mixers: invert FW roll sign in builtin mixers This inversion matches the fixed sign in the commands generated by the VTOL attitude controller. This commit, combined with the previous commit, should have no effect. For safety, it is recommended to check the direction of roll control surfaces before flight. --- ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers/claire.aux.mix | 4 ++-- ROMFS/px4fmu_common/mixers/deltaquad.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers/firefly6.aux.mix | 4 ++-- ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix | 4 ++-- ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix | 4 ++-- ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix | 4 ++-- ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix | 4 ++-- 13 files changed, 26 insertions(+), 26 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix b/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix index fd6f11cf26..d2a3f8bcaf 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix +++ b/ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix @@ -7,11 +7,11 @@ Z: # left elevon M: 1 -S: 1 0 10000 10000 0 -10000 10000 +S: 1 0 -10000 -10000 0 -10000 10000 # right elevon M: 1 -S: 1 0 -10000 -10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 # mixer for the virtual elevator M: 1 diff --git a/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix index 6e84c2814b..402da96429 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix +++ b/ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix @@ -13,12 +13,12 @@ S: 1 3 0 20000 -10000 -10000 10000 # mixer for the left aileron M: 1 O: 10000 10000 0 -10000 10000 -S: 1 0 10000 10000 0 -10000 10000 +S: 1 0 -10000 -10000 0 -10000 10000 # mixer for the right aileron M: 1 O: 10000 10000 0 -10000 10000 -S: 1 0 -10000 -10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 # mixer for the elevator M: 1 diff --git a/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix index 94cb0f4ba6..0405990ac4 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix +++ b/ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix @@ -28,12 +28,12 @@ S: 1 4 0 20000 -10000 -10000 10000 # mixer for the left aileron M: 1 O: 10000 10000 0 -10000 10000 -S: 1 0 10000 10000 0 -10000 10000 +S: 1 0 -10000 -10000 0 -10000 10000 # mixer for the right aileron M: 1 O: 10000 10000 0 -10000 10000 -S: 1 0 -10000 -10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 # mixer for the elevator M: 1 diff --git a/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix index ee3b621367..9cb846a627 100644 --- a/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix +++ b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix @@ -30,10 +30,10 @@ Channel 6 connects to the left (port) elevon. M: 2 O: 7500 7500 0 -10000 10000 -S: 1 0 -10000 -10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 S: 1 1 10000 10000 0 -10000 10000 M: 2 O: 7500 7500 0 -10000 10000 -S: 1 0 -10000 -10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 S: 1 1 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/claire.aux.mix b/ROMFS/px4fmu_common/mixers/claire.aux.mix index cdc27fd8ae..7213daf2a2 100644 --- a/ROMFS/px4fmu_common/mixers/claire.aux.mix +++ b/ROMFS/px4fmu_common/mixers/claire.aux.mix @@ -20,9 +20,9 @@ Elevon mixers M: 2 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 S: 1 1 7500 7500 0 -10000 10000 M: 2 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 S: 1 1 -7500 -7500 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/deltaquad.main.mix b/ROMFS/px4fmu_common/mixers/deltaquad.main.mix index f615b24c66..0b70432a80 100644 --- a/ROMFS/px4fmu_common/mixers/deltaquad.main.mix +++ b/ROMFS/px4fmu_common/mixers/deltaquad.main.mix @@ -18,14 +18,14 @@ input is inverted between the two servos. ------------- M: 2 -S: 1 0 -8000 -8000 0 -10000 10000 +S: 1 0 8000 8000 0 -10000 10000 S: 1 1 8000 8000 0 -10000 10000 6: left ------------- M: 2 -S: 1 0 -8000 -8000 0 -10000 10000 +S: 1 0 8000 8000 0 -10000 10000 S: 1 1 -8000 -8000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix index ddc150984a..eab62e1f0c 100644 --- a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix +++ b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix @@ -9,11 +9,11 @@ S: 1 4 0 20000 -10000 -10000 10000 Elevon mixers ------------- M: 2 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 S: 1 1 8000 8000 0 -10000 10000 M: 2 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 S: 1 1 -8000 -8000 0 -10000 10000 Landing gear mixer diff --git a/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix index cb63bbe351..6dcbf83226 100644 --- a/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix +++ b/ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix @@ -8,10 +8,10 @@ R: 4x 10000 10000 10000 0 # left elevon M: 2 -S: 1 0 5000 5000 0 -10000 10000 +S: 1 0 -5000 -5000 0 -10000 10000 S: 1 1 5000 5000 0 -10000 10000 # right elevon M: 2 -S: 1 0 5000 5000 0 -10000 10000 +S: 1 0 -5000 -5000 0 -10000 10000 S: 1 1 -5000 -5000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix b/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix index 263a90d691..152353736c 100644 --- a/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix +++ b/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix @@ -11,11 +11,11 @@ S: 1 3 0 20000 -10000 -10000 10000 # mixer for the left aileron M: 1 -S: 1 0 10000 10000 0 -10000 10000 +S: 1 0 -10000 -10000 0 -10000 10000 # mixer for the right aileron M: 1 -S: 1 0 -10000 -10000 0 -10000 10000 +S: 1 0 10000 10000 0 -10000 10000 # mixer for the elevator M: 1 diff --git a/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix index b6d4756e9d..84d99b925a 100644 --- a/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix +++ b/ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix @@ -4,12 +4,12 @@ Mixer for an AAERT VTOL Aileron 1 mixer --------------- M: 1 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 Aileron 2 mixer --------------- M: 1 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 Elevator mixer -------------- diff --git a/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix index 70ec007c53..1991ebd452 100644 --- a/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix +++ b/ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix @@ -19,11 +19,11 @@ factors (to reverse the servo movement) and adjust the offset, scaling and endpoints to suit. M: 2 -S: 1 0 10000 10000 0 -10000 10000 +S: 1 0 -10000 -10000 0 -10000 10000 S: 1 6 10000 10000 0 -10000 10000 M: 2 -S: 1 0 10000 10000 0 -10000 10000 +S: 1 0 -10000 -10000 0 -10000 10000 S: 1 6 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix b/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix index 80db1600b9..db5e90e277 100644 --- a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix +++ b/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix @@ -20,9 +20,9 @@ S: 0 2 8000 8000 0 -10000 10000 Elevon mixers ------------- M: 2 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 S: 1 1 8000 8000 0 -10000 10000 M: 2 -S: 1 0 -7500 -7500 0 -10000 10000 +S: 1 0 7500 7500 0 -10000 10000 S: 1 1 -8000 -8000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix index 26bb2045d0..4ef04f2498 100644 --- a/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix +++ b/ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix @@ -18,11 +18,11 @@ On the assumption that the two elevon servos are physically reversed, the pitch input is inverted between the two servos. M: 2 -S: 1 0 -8000 -8000 0 -10000 10000 +S: 1 0 8000 8000 0 -10000 10000 S: 1 1 8000 8000 0 -10000 10000 M: 2 -S: 1 0 -8000 -8000 0 -10000 10000 +S: 1 0 8000 8000 0 -10000 10000 S: 1 1 -8000 -8000 0 -10000 10000 Motor speed mixer