mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-30 10:13:34 +08:00
Silvan Fuhrer
4b8f93de5c
- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
The flap settings for takeoff and landing are now specified relative to full range.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
88 lines
2.7 KiB
Plaintext
88 lines
2.7 KiB
Plaintext
Aileron/rudder/elevator/throttle/wheel/flaps 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 and 1, the elevator to output 2, the rudder to output 3, the throttle
|
|
to output 4 and the wheel to output 5.
|
|
|
|
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
|
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
|
|
|
|
Aileron mixer (roll + spoiler)
|
|
---------------------------------
|
|
|
|
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.
|
|
|
|
M: 2
|
|
S: 0 0 10000 10000 0 -10000 10000
|
|
S: 0 5 10000 10000 0 -10000 10000
|
|
|
|
M: 2
|
|
S: 0 0 10000 10000 0 -10000 10000
|
|
S: 0 5 -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
|
|
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
|
|
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
|
|
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
|
|
S: 0 2 10000 10000 0 -10000 10000
|
|
|
|
|
|
Flaps / gimbal / payload mixer for last three channels,
|
|
using the payload control group
|
|
-----------------------------------------------------
|
|
|
|
M: 1
|
|
S: 0 4 10000 10000 0 -10000 10000
|
|
|
|
M: 1
|
|
S: 2 0 10000 10000 0 -10000 10000
|
|
|
|
M: 1
|
|
S: 2 2 10000 10000 0 -10000 10000
|