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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.
55 lines
1.6 KiB
Plaintext
55 lines
1.6 KiB
Plaintext
Aileron/v-tail/throttle VTOL mixer for PX4FMU
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=======================================================
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
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The configuration assumes the aileron servos are connected to PX4FMU
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AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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Aileron mixer (roll + flaperon)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 2
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S: 1 0 -10000 -10000 0 -10000 10000
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S: 1 6 10000 10000 0 -10000 10000
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M: 2
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S: 1 0 -10000 -10000 0 -10000 10000
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S: 1 6 -10000 -10000 0 -10000 10000
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V-tail mixers
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-------------
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Three scalers total (output, roll, pitch).
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On the assumption that the two tail servos are physically reversed, the pitch
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input is inverted between the two servos.
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M: 2
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S: 1 2 -7000 -7000 0 -10000 10000
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S: 1 1 -8000 -8000 0 -10000 10000
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M: 2
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S: 1 2 -7000 -7000 0 -10000 10000
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S: 1 1 8000 8000 0 -10000 10000
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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S: 1 3 0 20000 -10000 -10000 10000
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