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simple mixer: make output scalers O: optional and use default values instead

Browse Source 
Reduces FLASH usage by about 4KB

Command to replace:
for i in *.mix; do sed -r -i '/O: +10000 +10000 +0 +-10000 +10000/d' $i; done
This commit is contained in:
Beat Küng
2018-05-24 14:57:06 +02:00
parent a9275d6c5b
commit c9d179676e
42 changed files with 53 additions and 147 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
View File

@@ -19,12 +19,10 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
@@ -38,7 +36,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Rudder mixer
@@ -51,7 +48,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Motor speed mixer
@@ -62,7 +58,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Wheel mixer
@@ -75,7 +70,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
@@ -84,13 +78,10 @@ using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000

8
ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
View File

@@ -20,12 +20,10 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
@@ -37,12 +35,10 @@ On the assumption that the two tail servos are physically reversed, the pitch
input is inverted between the two servos.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -7000 -7000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -7000 -7000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
@@ -54,7 +50,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Wheel mixer
@@ -67,7 +62,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
Flaps mixer
@@ -75,10 +69,8 @@ Flaps mixer
Flap servos are physically reversed.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 0 5000 -10000 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 0 -5000 10000 -10000 10000

5
ROMFS/px4fmu_common/mixers/AERT.main.mix
View File

@@ -23,7 +23,6 @@ differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
CH2: Elevator mixer
@@ -36,7 +35,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH3: Rudder mixer
@@ -49,7 +47,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
CH4: Motor speed mixer
@@ -60,7 +57,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
CH5: Flaps mixer
@@ -77,5 +73,4 @@ Ch6: Landing gear mixer
By default pass-through of gear switch
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

5
ROMFS/px4fmu_common/mixers/AETRFG.main.mix
View File

@@ -23,7 +23,6 @@ differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
CH2: Elevator mixer
@@ -36,7 +35,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH3: Motor speed mixer
@@ -47,7 +45,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
CH4: Rudder mixer
@@ -60,7 +57,6 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
CH5: Flaps mixer
@@ -77,5 +73,4 @@ CH6: Landing gear mixer
By default pass-through of gear switch
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

5
ROMFS/px4fmu_common/mixers/CCPM.main.mix
View File

@@ -8,7 +8,6 @@ Output 0 - Rear Servo Mixer
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
M: 2
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
@@ -18,7 +17,6 @@ Output 1 - Left Servo Mixer
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
M: 3
O: 10000 10000 0 -10000 10000
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 8660 8660 0 -10000 10000
@@ -30,7 +28,6 @@ Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Ail
M: 3
O: 10000 10000 0 -10000 10000
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 -8660 -8660 0 -10000 10000
@@ -40,7 +37,6 @@ 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
@@ -49,5 +45,4 @@ 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 4 0 20000 -10000 -10000 10000

4
ROMFS/px4fmu_common/mixers/FMU_pass.mix
View File

@@ -6,18 +6,14 @@ This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-3 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000

3
ROMFS/px4fmu_common/mixers/FX79.main.mix
View File

@@ -26,12 +26,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8500 8500 0 -10000 10000
S: 0 1 9500 9500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8500 8500 0 -10000 10000
S: 0 1 -9500 -9500 0 -10000 10000
@@ -49,5 +47,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

8
ROMFS/px4fmu_common/mixers/IO_pass.main.mix
View File

@@ -6,33 +6,25 @@ This file defines passthrough mixers suitable for testing.
Channel group 0, channels 0-7 are passed directly through to the outputs.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

6
ROMFS/px4fmu_common/mixers/Viper.main.mix
View File

@@ -26,12 +26,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
@@ -49,7 +47,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Inputs to the mixer come from channel group 2 (payload), channels 0
@@ -57,15 +54,12 @@ Inputs to the mixer come from channel group 2 (payload), channels 0
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 -8000 -8000 0 -10000 10000

1
ROMFS/px4fmu_common/mixers/blade130.main.mix
View File

@@ -12,5 +12,4 @@ 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

3
ROMFS/px4fmu_common/mixers/caipi.main.mix
View File

@@ -24,12 +24,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 9000 9000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 -9000 -9000 0 -10000 10000
@@ -47,5 +45,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

3
ROMFS/px4fmu_common/mixers/claire.aux.mix
View File

@@ -9,7 +9,6 @@ Tilt mechanism servo mixer
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 10000 10000 0 -10000 10000
@@ -21,11 +20,9 @@ Elevon mixers
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 7500 7500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -7500 -7500 0 -10000 10000

4
ROMFS/px4fmu_common/mixers/coax.main.mix
View File

@@ -7,20 +7,17 @@ Coaxial helicopter mixer
Left swashplate servomotor, pitch axis
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Right swashplate servomotor, roll axis
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Upper rotor (CCW)
Mixing between yaw and thrust
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
@@ -28,6 +25,5 @@ Lower rotor (CW)
Mixing between yaw and thrust
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

3
ROMFS/px4fmu_common/mixers/delta.main.mix
View File

@@ -22,12 +22,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 3000 5000 0 -10000 10000
S: 0 1 5000 5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 3000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
@@ -45,5 +43,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

4
ROMFS/px4fmu_common/mixers/deltaquad.main.mix
View File

@@ -18,7 +18,6 @@ input is inverted between the two servos.
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
@@ -26,7 +25,6 @@ S: 1 1 8000 8000 0 -10000 10000
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
@@ -39,12 +37,10 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000
8: Reverse thrust (brake) mixer
-----------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 6 0 20000 -9000 -10000 10000

4
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
View File

@@ -4,23 +4,19 @@
Tilt mechanism servo mixer
---------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
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: 3 6 10000 10000 0 -10000 10000

3
ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
View File

@@ -22,12 +22,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 6000 6000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 -6000 -6000 0 -10000 10000
@@ -45,5 +43,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

4
ROMFS/px4fmu_common/mixers/mount.aux.mix
View File

@@ -3,21 +3,17 @@
# pitch
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
# roll
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
# yaw
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
# Shutter/retract
M: 1
O: 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000

5
ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
View File

@@ -1,27 +1,22 @@
# Roll channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
# Pitch channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
# Yaw channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
# mixer for left leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 0 20000 -10000 -10000 10000
# mixer for right leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 0 20000 -10000 -10000 10000

4
ROMFS/px4fmu_common/mixers/pass.aux.mix
View File

@@ -2,20 +2,16 @@
# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000
# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
M: 1
O: 10000 10000 0 -10000 10000
S: 3 7 10000 10000 0 -10000 10000
# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
M: 1
O: 10000 10000 0 -10000 10000
S: 3 4 10000 10000 0 -10000 10000

3
ROMFS/px4fmu_common/mixers/phantom.main.mix
View File

@@ -21,12 +21,10 @@ input is inverted between the two servos.
The scaling factor are set so that pitch will have more travel than roll.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -6000 -6000 0 -10000 10000
S: 0 1 6500 6500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -6000 -6000 0 -10000 10000
S: 0 1 -6500 -6500 0 -10000 10000
@@ -44,5 +42,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

2
ROMFS/px4fmu_common/mixers/quad_+.main.mix
View File

@@ -10,9 +10,7 @@ Gimbal / payload mixer for last two channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

4
ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix
View File

@@ -8,21 +8,17 @@ R: 4+ 10000 10000 10000 0
# mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
# mixer for canard surface
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
# mixer for rudder
M: 1
O: 10000 10000 0 -10000 10000
S: 1 2 -10000 -10000 0 -10000 10000

2
ROMFS/px4fmu_common/mixers/quad_h.main.mix
View File

@@ -10,9 +10,7 @@ Gimbal / payload mixer for last two channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

2
ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix
View File

@@ -1,7 +1,5 @@
R: 4s 10000 10000 10000 0
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

2
ROMFS/px4fmu_common/mixers/quad_w.main.mix
View File

@@ -9,9 +9,7 @@ Gimbal / payload mixer for last two channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

2
ROMFS/px4fmu_common/mixers/quad_x.main.mix
View File

@@ -1,7 +1,5 @@
R: 4x 10000 10000 10000 0
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

3
ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
View File

@@ -10,17 +10,14 @@ Z:
# left elevon
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 5000 5000 0 -10000 10000
# right elevon
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000
# mixer for the virtual elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000

3
ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
View File

@@ -7,15 +7,12 @@ Z:
# left elevon
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# right elevon
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the virtual elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000

2
ROMFS/px4fmu_common/mixers/stampede.main.mix
View File

@@ -20,7 +20,6 @@ Z:
Steering mixer using roll on output 1
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
@@ -33,5 +32,4 @@ Z:
Output 3
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000

1
ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
View File

@@ -8,5 +8,4 @@ R: 3y 10000 10000 10000 0
# Yaw Servo
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000

1
ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
View File

@@ -8,6 +8,5 @@ R: 3y 10000 10000 10000 0
# Yaw Servo
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000

2
ROMFS/px4fmu_common/mixers/ugv_generic.main.mix
View File

@@ -20,7 +20,6 @@ Z:
Steering mixer using roll on output 1
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
@@ -33,5 +32,4 @@ Z:
Output 3
---------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000

5
ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix
View File

@@ -4,29 +4,24 @@ Mixer for an AAERT VTOL
Aileron 1 mixer
---------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
Aileron 2 mixer
---------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
Elevator mixer
--------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
Rudder mixer
------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 2 -10000 -10000 0 -10000 10000
Throttle mixer
--------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000

5
ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
View File

@@ -19,12 +19,10 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 6 -10000 -10000 0 -10000 10000
@@ -37,12 +35,10 @@ On the assumption that the two tail servos are physically reversed, the pitch
input is inverted between the two servos.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 2 -7000 -7000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 2 -7000 -7000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
@@ -54,6 +50,5 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000

4
ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
View File

@@ -9,24 +9,20 @@ Tilt mechanism servo mixer
---------------------------
#RIGHT up:2000 down:1000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 -20000 10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000

5
ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
View File

@@ -18,12 +18,10 @@ On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
@@ -35,7 +33,6 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000
@@ -43,7 +40,6 @@ Reverse thrust (brake) mixer
-----------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 6 0 20000 -10000 -10000 10000
@@ -52,5 +48,4 @@ Aux1 mixer
This is actuated on the AUX5 port
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

3
ROMFS/px4fmu_common/mixers/wingwing.main.mix
View File

@@ -24,12 +24,10 @@ The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -6000 -6000 0 -10000 10000
S: 0 1 6500 6500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -6000 -6000 0 -10000 10000
S: 0 1 -6500 -6500 0 -10000 10000
@@ -47,5 +45,4 @@ This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000

2
ROMFS/px4fmu_common/mixers/zmr250.main.mix
View File

@@ -5,9 +5,7 @@
R: 4x 7654 10000 10000 0
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000

16
src/lib/mixer/mixer.cpp
View File

@@ -40,6 +40,7 @@
#include "mixer.h"
#include <cstring>
#include <ctype.h>
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
@@ -125,6 +126,21 @@ Mixer::findtag(const char *buf, unsigned &buflen, char tag)
return nullptr;
}
char
Mixer::findnexttag(const char *buf, unsigned buflen)
{
while (buflen >= 2) {
if (isupper(buf[0]) && buf[1] == ':') {
return buf[0];
}
buf++;
buflen--;
}
return 0;
}
const char *
Mixer::skipline(const char *buf, unsigned &buflen)
{

9
src/lib/mixer/mixer.h
View File

@@ -265,6 +265,14 @@ protected:
*/
static const char *findtag(const char *buf, unsigned &buflen, char tag);
/**
* Find next tag and return it (0 is returned if no tag is found)
*
* @param buf The buffer to operate on.
* @param buflen length of the buffer.
*/
static char findnexttag(const char *buf, unsigned buflen);
/**
* Skip a line
*
@@ -340,6 +348,7 @@ public:
* M: <control count>
* O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
*
* The second line O: can be omitted. In that case 'O: 10000 10000 0 -10000 10000' is used.
* The definition continues with <control count> entries describing the control
* inputs and their scaling, in the form:
*

31
src/lib/mixer/mixer_simple.cpp
View File

@@ -151,6 +151,7 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
unsigned inputs;
int used;
const char *end = buf + buflen;
char next_tag;
/* enforce that the mixer ends with a new line */
if (!string_well_formed(buf, buflen)) {
@@ -163,6 +164,12 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
goto out;
}
/* at least 1 input is required */
if (inputs == 0) {
debug("simple parse got 0 inputs");
goto out;
}
buf = skipline(buf, buflen);
if (buf == nullptr) {
@@ -179,9 +186,27 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
mixinfo->control_count = inputs;
if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler)) {
debug("simple mixer parser failed parsing out scaler tag, ret: '%s'", buf);
goto out;
/* find the next tag */
next_tag = findnexttag(end - buflen, buflen);
if (next_tag == 'S') {
/* No output scalers specified. Use default values.
* Corresponds to:
* O: 10000 10000 0 -10000 10000
*/
mixinfo->output_scaler.negative_scale = 1.0f;
mixinfo->output_scaler.positive_scale = 1.0f;
mixinfo->output_scaler.offset = 0.f;
mixinfo->output_scaler.min_output = -1.0f;
mixinfo->output_scaler.max_output = 1.0f;
} else {
if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler)) {
debug("simple mixer parser failed parsing out scaler tag, ret: '%s'", buf);
goto out;
}
}
for (unsigned i = 0; i < inputs; i++) {