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40 lines
1.2 KiB
Plaintext
40 lines
1.2 KiB
Plaintext
Tailsitter duo mixer
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This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
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has two motors in total, one attached to each wing. It also has two elevons which
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are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
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on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
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elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
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at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
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Motor mixer
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------------
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Channel 1 connects to the right (starboard) motor.
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Channel 2 connects to the left (port) motor.
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R: 2-
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Zero mixer (2x)
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---------------
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Channels 3,4 are unused.
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Z:
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Z:
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Elevons mixer
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--------------
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Channel 5 connects to the right (starboard) elevon.
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Channel 6 connects to the left (port) elevon.
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Here we saturate the elevons before their full range
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to avoid roll-pitch-yaw coupling during faster maneuvers
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M: 2
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S: 1 0 10000 10000 0 -6000 6000
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S: 1 1 10000 10000 0 -6000 6000
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M: 2
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S: 1 0 10000 10000 0 -6000 6000
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S: 1 1 -10000 -10000 0 -6000 6000
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