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55 lines
1.4 KiB
Plaintext
55 lines
1.4 KiB
Plaintext
Quadrotor X mixer for PX4FMU
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============================
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This file defines mixers suitable for controlling a quadrotor in the X
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arrangement using PX4FMU. The configuration assumes the motors are connected
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starting with the front-right motor on output 0 and proceeding clockwise.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
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See the README for more information on the scaler format.
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Scale values here will definitely need tuning.
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Front right
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-----------
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M: 4
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 0 1000 1000 0 -10000 10000
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S: 0 1 1000 1000 0 -10000 10000
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S: 0 2 1000 1000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Back right
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----------
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M: 4
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 0 1000 1000 0 -10000 10000
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S: 0 1 -1000 -1000 0 -10000 10000
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S: 0 2 -1000 -1000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Back left
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---------
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M: 4
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 0 -1000 -1000 0 -10000 10000
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S: 0 1 -1000 -1000 0 -10000 10000
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S: 0 2 1000 1000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Front left
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----------
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M: 4
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 0 -1000 -1000 0 -10000 10000
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S: 0 1 1000 1000 0 -10000 10000
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S: 0 2 -1000 -1000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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