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ec2cf70276
This commit moves the steering output from yaw to the roll channel to better reflect the lateral control input / reaction mapping. It also removes old unused parameters and modernizes the mainloop to remove unnecessary polling.
41 lines
1.2 KiB
Plaintext
41 lines
1.2 KiB
Plaintext
Generic car mixer (eg DF Robot GPX:Asurada RC Car)
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===========================
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Designed for DF Robot GPX:Asurada
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This file defines mixers suitable for controlling a DF Robot GPX:Asurada rover using
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PX4FMU. The configuration assumes the steering is connected to PX4FMU
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servo outputs 1 and the motor speed controls to output 2 and 3. Output 0 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), and 3 (thrust).
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See the README for more information on the scaler format.
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Output 1 - Empty
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-----------------------------------------
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Z:
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Output 2 - Steering mixer using yaw
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------------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000 5000
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S: 0 2 10000 10000 0 -10000 10000
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Output 3 - Left row of wheels using yaw and throttle (1s rise time)
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------------------------------------------
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M: 2
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O: 10000 10000 0 -10000 10000 10000
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S: 0 2 -500 -500 0 0 10000
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S: 0 3 10000 10000 0 -10000 10000
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Output 4 - Right row of wheels using yaw and throttle (1s rise time)
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------------------------------------------
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M: 2
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O: 10000 10000 0 -10000 10000 10000
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S: 0 2 500 500 0 0 10000
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S: 0 3 10000 10000 0 -10000 10000
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