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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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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.
47 lines
894 B
Plaintext
47 lines
894 B
Plaintext
# DeltaQuad mixer for PX4FMU
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#=============================
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Quad motors 1 - 4
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-------------
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R: 4x 10000 10000 10000 0
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Elevon 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 elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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5: right
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-------------
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M: 2
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S: 1 0 8000 8000 0 -10000 10000
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S: 1 1 8000 8000 0 -10000 10000
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6: left
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-------------
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M: 2
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S: 1 0 8000 8000 0 -10000 10000
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S: 1 1 -8000 -8000 0 -10000 10000
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7: 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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8: Reverse thrust (brake) mixer
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-----------------
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M: 1
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S: 1 6 0 20000 -9000 -10000 10000
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