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Add generic vtol tailsitter airframe/mixer and incorporate modifications from PR 9849 in 4001_quad_x and 13001_caipirinha_vtol.

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This commit is contained in:
mcsauder
2019-07-17 10:32:21 -06:00
committed by Daniel Agar
parent 328544ae2e
commit 0817ee40f8
5 changed files with 79 additions and 2 deletions
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39
ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix Normal file
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Tailsitter duo mixer
============================
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
has two motors in total, one attached to each wing. It also has two elevons which
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
Motor mixer
------------
Channel 1 connects to the right (starboard) motor.
Channel 2 connects to the left (port) motor.
R: 2- 10000 10000 10000 0
Zero mixer (2x)
---------------
Channels 3,4 are unused.
Z:
Z:
Elevons mixer
--------------
Channel 5 connects to the right (starboard) elevon.
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 1 10000 10000 0 -10000 10000
M: 2
O: 7500 7500 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000