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67e0f8b179
Now the mixer is a C++ library that can be fairly easily bolted into an output driver to provide mixing services. Teach the FMU driver how to use it as an example. More testing is still required.
54 lines
1.6 KiB
Plaintext
54 lines
1.6 KiB
Plaintext
Rudder/elevator/throttle 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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rudder, elevator and throttle controls using PX4FMU. The configuration assumes
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the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
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and the throttle to output 3.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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Rudder mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the rudder servo is 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: 0 0 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is 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: 0 0 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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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: 2
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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