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Beat Küng
50 lines
1.6 KiB
Plaintext
50 lines
1.6 KiB
Plaintext
Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
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# @board px4_fmu-v2 exclude
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This file defines mixers suitable for controlling an airship with
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a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
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The configuration assumes the starboard thruster is connected to PX4FMU
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output 1, port thruster to output 2, tilt servo to output 3, and the
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tail thruster to output 4.
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Inputs to the mixer come from channel group 0 (vehicle attitude),
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channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
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Starboard and port thruster mixer
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-----------------
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Two scalers total (output, thrust).
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By default mixer output is normalized. The input is in the (0 - 1) range.
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M: 1
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S: 0 3 0 20000 -10000 -10000 10000
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M: 1
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S: 0 3 0 20000 -10000 -10000 10000
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Servo controlling tilt mixer
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------------
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Two scalers total (output, tilt angle).
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This mixer assumes that the tilt servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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S: 0 1 10000 10000 0 -10000 10000
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Tail thruster mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the tail thruster is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the motor movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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S: 0 2 10000 10000 0 -10000 10000
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