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Generic helicopter mixer

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fix code style
This commit is contained in:
Bart Slinger
2016-08-24 16:32:03 +02:00
committed by Lorenz Meier
parent d8d9ab1bfb
commit a7c8d77453
9 changed files with 399 additions and 57 deletions
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16
ROMFS/px4fmu_common/mixers/blade130.main.mix Normal file
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Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
==================================================
H: 3
T: 0 3000 6000 8000 10000
P: 500 1500 2500 3500 4500
# Swash plate servos:
S: 0 10000 10000 0 -8000 8000
S: 140 13054 10000 0 -8000 8000
S: 220 13054 10000 0 -8000 8000
# Tail servo:
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000

54
ROMFS/px4fmu_common/mixers/heli_120deg.main.mix
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Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
Blade 130x helicopter has longer servo arms left and right. The front servo arm is shorter.
Therefore it is not required to use the 0.866 factor.
==================================================
Output 0 - Left Servo Mixer
-----------------
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + Aileron (Roll - 0)
M: 3
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Output 1 - Front Servo Mixer
----------------
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
M: 2
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Output 2 - Right Servo Mixer
----------------
Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - Aileron (Roll - 0)
M: 3
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
Output 3 - Tail Servo Mixer
----------------
Tail Servo = Yaw (control index = 2)
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Output 4 - Motor speed mixer
-----------------
This would be the motor speed control output from governor power demand- not sure what index to use here?
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000