mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
e28f8a7f2e
This inversion matches the fixed sign in the commands generated by the VTOL attitude controller. This commit, combined with the previous commit, should have no effect. For safety, it is recommended to check the direction of roll control surfaces before flight.
52 lines
1.2 KiB
Plaintext
52 lines
1.2 KiB
Plaintext
Delta-wing VTOL mixer
|
|
=====================
|
|
|
|
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
|
|
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
|
AUX servo outputs 0 and 1 and the motor speed control to output 2.
|
|
|
|
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
|
(roll), 1 (pitch) and 3 (thrust).
|
|
|
|
See the README for more information on the scaler format.
|
|
|
|
Elevon mixers
|
|
-------------
|
|
Three scalers total (output, roll, pitch).
|
|
|
|
On the assumption that the two elevon servos are physically reversed, the pitch
|
|
input is inverted between the two servos.
|
|
|
|
M: 2
|
|
S: 1 0 8000 8000 0 -10000 10000
|
|
S: 1 1 8000 8000 0 -10000 10000
|
|
|
|
M: 2
|
|
S: 1 0 8000 8000 0 -10000 10000
|
|
S: 1 1 -8000 -8000 0 -10000 10000
|
|
|
|
Motor speed mixer
|
|
-----------------
|
|
Two scalers total (output, thrust).
|
|
|
|
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
|
|
S: 1 3 0 20000 -10000 -10000 10000
|
|
|
|
|
|
Reverse thrust (brake) mixer
|
|
-----------------
|
|
|
|
M: 1
|
|
S: 1 6 0 20000 -10000 -10000 10000
|
|
|
|
|
|
Aux1 mixer
|
|
-----------------
|
|
This is actuated on the AUX5 port
|
|
|
|
M: 1
|
|
S: 3 5 10000 10000 0 -10000 10000
|