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Tilt-Quadrotor Mixer and Airframe files (#9496)

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This commit is contained in:
Ricardo Marques
2018-06-20 15:35:05 +01:00
committed by Daniel Agar
parent 6a7751496b
commit bf0a1f05fb
3 changed files with 111 additions and 0 deletions
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35
ROMFS/px4fmu_common/init.d/4100_tiltquadrotor Normal file
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#!nsh
#
# @name Tilt-Quadrotor
#
# @url http://www.alivaero.com/the-project.html
#
# @type Tilt-Quad
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Outer servo motor for rotor 2 arm
# @output AUX2 Outer servo motor for rotor 4 arm
# @output AUX3 Inner servo motor for rotor 2 arm
# @output AUX4 Inner servo motor for rotor 4 arm
#
# @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
#Parameters here:
param set LED_RGB_MAXBRT 8
# Configure this as Quadrotor
# set MAV_TYPE 14
# Set mixer
set MIXER tilt_quad
set MIXER_AUX tilt_quad
set PWM_OUT 1234

38
ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix Normal file
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Tilt-Quadrotor mixer for PX4FMU (2/2) V2.0
===========================
This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
# @output AUX1 Outer servo motor for rotor 2 arm
# @output AUX2 Outer servo motor for rotor 4 arm
# @output AUX3 Inner servo motor for rotor 2 arm
# @output AUX4 Inner servo motor for rotor 4 arm
Servo 1
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
Servo 2
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
Servo 3
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
Servo 4
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

38
ROMFS/px4fmu_common/mixers/tilt_quad.main.mix Normal file
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Tilt-Quadrotor mixer for PX4FMU (1/2) V2.0
===========================
This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
Motor 1
M: 2
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Motor 2
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Motor 3
M: 2
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
Motor 4
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000