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Mixer: Rename to .md and change syntax to markup

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Lorenz Meier
2015-01-04 00:14:09 +01:00
parent 4d9e4949fc
commit 5f147f3a6f
1 changed files with 6 additions and 11 deletions
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17
ROMFS/px4fmu_common/mixers/README → ROMFS/px4fmu_common/mixers/README.md
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@@ -1,14 +1,12 @@
PX4 mixer definitions ## PX4 mixer definitions ##
=====================
Files in this directory implement example mixers that can be used as a basis Files in this directory implement example mixers that can be used as a basis
for customisation, or for general testing purposes. for customisation, or for general testing purposes.
For a detailed description of the mixing architecture and examples see: For a detailed description of the mixing architecture and examples see:
https://pixhawk.org/dev/mixing http://px4.io/dev/mixing
Syntax ### Syntax ###
------
Mixer definitions are text files; lines beginning with a single capital letter Mixer definitions are text files; lines beginning with a single capital letter
followed by a colon are significant. All other lines are ignored, meaning that followed by a colon are significant. All other lines are ignored, meaning that
@@ -28,8 +26,7 @@ A mixer begins with a line of the form
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
multirotor mixer, etc. multirotor mixer, etc.
Null Mixer #### Null Mixer ####
..........
A null mixer consumes no controls and generates a single actuator output whose A null mixer consumes no controls and generates a single actuator output whose
value is always zero. Typically a null mixer is used as a placeholder in a value is always zero. Typically a null mixer is used as a placeholder in a
@@ -39,8 +36,7 @@ The null mixer definition has the form:
Z: Z:
Simple Mixer #### Simple Mixer ####
............
A simple mixer combines zero or more control inputs into a single actuator A simple mixer combines zero or more control inputs into a single actuator
output. Inputs are scaled, and the mixing function sums the result before output. Inputs are scaled, and the mixing function sums the result before
@@ -78,8 +74,7 @@ discussed above. Whilst the calculations are performed as floating-point
operations, the values stored in the definition file are scaled by a factor of operations, the values stored in the definition file are scaled by a factor of
10000; i.e. an offset of -0.5 is encoded as -5000. 10000; i.e. an offset of -0.5 is encoded as -5000.
Multirotor Mixer #### Multirotor Mixer ####
................
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
into a set of actuator outputs intended to drive motor speed controllers. into a set of actuator outputs intended to drive motor speed controllers.