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Merge pull request #2062 from PX4/firefly

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Firefly6
This commit is contained in:
Lorenz Meier
2015-04-21 13:45:45 +02:00
parent 9c282cf6d6 5e044e5b67
commit a0ad5ec42b
4 changed files with 35 additions and 8 deletions
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10
ROMFS/px4fmu_common/init.d/13002_firefly6
View File

@@ -8,10 +8,14 @@
sh /etc/init.d/rc.vtol_defaults
set MIXER firefly6
set MIXER_AUX firefly6
set PWM_OUT 123456
set PWM_OUT 12345678
set PWM_AUX_OUT 1234
set MIXER_AUX firefly6
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
param set VT_MOT_COUNT 6
param set VT_IDLE_PWM_MC 1080

11
ROMFS/px4fmu_common/init.d/rc.interface
View File

@@ -45,7 +45,7 @@ then
if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "[i] Mixer: $MIXER_FILE"
echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
else
echo "[i] Error loading mixer: $MIXER_FILE"
tone_alarm $TUNE_ERR
@@ -105,7 +105,7 @@ then
set MIXER_AUX_FILE none
set OUTPUT_AUX_DEV /dev/pwm_output1
if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ]
then
set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix
else
@@ -120,7 +120,12 @@ then
then
if fmu mode_pwm
then
mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
then
echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
else
echo "[i] Error loading mixer: $MIXER_AUX_FILE"
fi
else
tone_alarm $TUNE_ERR
fi

18
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
View File

@@ -1,4 +1,14 @@
# mixer for the FireFly6 elevons
# mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
=======================================================================
Tilt mechanism servo mixer
---------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 10000 10000 0 -10000 10000
Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
@@ -8,3 +18,9 @@ M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Landing gear mixer
------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

4
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@@ -176,7 +176,7 @@ private:
bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
unsigned _motor_count; // number of motors
float _airspeed_tot;
float _tilt_control;
//*****************Member functions***********************************************************************
void task_main(); //main task
@@ -241,6 +241,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
flag_idle_mc = true;
_airspeed_tot = 0.0f;
_tilt_control = 0.0f;
memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/
@@ -521,6 +522,7 @@ void VtolAttitudeControl::fill_mc_att_control_output()
//set neutral position for elevons
_actuators_out_1.control[0] = _actuators_mc_in.control[2]; //roll elevon
_actuators_out_1.control[1] = _actuators_mc_in.control[1];; //pitch elevon
_actuators_out_1.control[4] = _tilt_control; // for tilt-rotor control
}
/**