mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
Merge working changes into export-build branch.
This commit is contained in:
px4dev
@@ -0,0 +1,67 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU with PWM outputs.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE custom
|
||||
|
||||
echo "[init] doing PX4FMU Quad startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
echo "[init] starting PWM output"
|
||||
fmu mode_pwm
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
echo "[init] startup done, exiting"
|
||||
exit
|
||||
@@ -0,0 +1,80 @@
|
||||
#!nsh
|
||||
|
||||
# Disable USB and autostart
|
||||
set USB no
|
||||
set MODE camflyer
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
#
|
||||
# Start PX4IO interface
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
@@ -0,0 +1,98 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Init the parameter storage
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start GPS capture
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
exit
|
||||
@@ -0,0 +1,66 @@
|
||||
#!nsh
|
||||
#
|
||||
# If we are still in flight mode, work out what airframe
|
||||
# configuration we have and start up accordingly.
|
||||
#
|
||||
if [ $MODE != autostart ]
|
||||
then
|
||||
echo "[init] automatic startup cancelled by user script"
|
||||
else
|
||||
echo "[init] detecting attached hardware..."
|
||||
|
||||
#
|
||||
# Assume that we are PX4FMU in standalone mode
|
||||
#
|
||||
set BOARD PX4FMU
|
||||
|
||||
#
|
||||
# Are we attached to a PX4IOAR (AR.Drone carrier board)?
|
||||
#
|
||||
if boardinfo test name PX4IOAR
|
||||
then
|
||||
set BOARD PX4IOAR
|
||||
if [ -f /etc/init.d/rc.PX4IOAR ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.PX4IOAR"
|
||||
usleep 500
|
||||
sh /etc/init.d/rc.PX4IOAR
|
||||
fi
|
||||
else
|
||||
echo "[init] PX4IOAR not detected"
|
||||
fi
|
||||
|
||||
#
|
||||
# Are we attached to a PX4IO?
|
||||
#
|
||||
if boardinfo test name PX4IO
|
||||
then
|
||||
set BOARD PX4IO
|
||||
if [ -f /etc/init.d/rc.PX4IO ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.PX4IO"
|
||||
usleep 500
|
||||
sh /etc/init.d/rc.PX4IO
|
||||
fi
|
||||
else
|
||||
echo "[init] PX4IO not detected"
|
||||
fi
|
||||
|
||||
#
|
||||
# Looks like we are stand-alone
|
||||
#
|
||||
if [ $BOARD == PX4FMU ]
|
||||
then
|
||||
echo "[init] no expansion board detected"
|
||||
if [ -f /etc/init.d/rc.standalone ]
|
||||
then
|
||||
echo "[init] reading /etc/init.d/rc.standalone"
|
||||
sh /etc/init.d/rc.standalone
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# We may not reach here if the airframe-specific script exits the shell.
|
||||
#
|
||||
echo "[init] startup done."
|
||||
fi
|
||||
@@ -0,0 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Test jig startup script
|
||||
#
|
||||
|
||||
echo "[testing] doing production test.."
|
||||
|
||||
tests jig
|
||||
|
||||
echo "[testing] testing done"
|
||||
@@ -0,0 +1,9 @@
|
||||
#!nsh
|
||||
#
|
||||
# Initialise logging services.
|
||||
#
|
||||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
sdlog start
|
||||
fi
|
||||
@@ -0,0 +1,34 @@
|
||||
#!nsh
|
||||
#
|
||||
# Standard startup script for PX4FMU onboard sensor drivers.
|
||||
#
|
||||
|
||||
#
|
||||
# Start sensor drivers here.
|
||||
#
|
||||
|
||||
ms5611 start
|
||||
adc start
|
||||
|
||||
if mpu6000 start
|
||||
then
|
||||
echo "using MPU6000 and HMC5883L"
|
||||
hmc5883 start
|
||||
else
|
||||
echo "using L3GD20 and LSM303D"
|
||||
l3gd20 start
|
||||
lsm303 start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensor collection task.
|
||||
# IMPORTANT: this also loads param offsets
|
||||
# ALWAYS start this task before the
|
||||
# preflight_check.
|
||||
#
|
||||
sensors start
|
||||
|
||||
#
|
||||
# Check sensors - run AFTER 'sensors start'
|
||||
#
|
||||
preflight_check
|
||||
@@ -0,0 +1,13 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU standalone configuration.
|
||||
#
|
||||
|
||||
echo "[init] doing standalone PX4FMU startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
echo "[init] startup done"
|
||||
Executable
+79
@@ -0,0 +1,79 @@
|
||||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# This script is responsible for:
|
||||
#
|
||||
# - mounting the microSD card (if present)
|
||||
# - running the user startup script from the microSD card (if present)
|
||||
# - detecting the configuration of the system and picking a suitable
|
||||
# startup script to continue with
|
||||
#
|
||||
# Note: DO NOT add configuration-specific commands to this script;
|
||||
# add them to the per-configuration scripts instead.
|
||||
#
|
||||
|
||||
#
|
||||
# Default to auto-start mode. An init script on the microSD card
|
||||
# can change this to prevent automatic startup of the flight script.
|
||||
#
|
||||
set MODE autostart
|
||||
set USB autoconnect
|
||||
|
||||
#
|
||||
# Start playing the startup tune
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
#
|
||||
# To prevent automatic startup in the current flight mode,
|
||||
# the script should set MODE to some other value.
|
||||
#
|
||||
if [ -f /fs/microsd/etc/rc ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc"
|
||||
sh /fs/microsd/etc/rc
|
||||
fi
|
||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,64 @@
|
||||
Aileron/rudder/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
|
||||
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
|
||||
elevator to output 1, the rudder to output 2 and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,60 @@
|
||||
Aileron/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
|
||||
output 1 and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
Alternatively, output 2 could be used as a second aileron servo output with
|
||||
separate mixing.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,52 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
Designed for Bormatec Camflyer Q
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
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.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -5000 -8000 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -8000 -5000 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,53 @@
|
||||
Rudder/elevator/throttle mixer for PX4FMU
|
||||
=========================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
rudder, elevator and throttle controls using PX4FMU. The configuration assumes
|
||||
the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
|
||||
and the throttle to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -0,0 +1,50 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
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.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -3000 -5000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 -5000 -3000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
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.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 3000 5000 0 -10000 10000
|
||||
S: 0 1 5000 5000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 5000 3000 0 -10000 10000
|
||||
S: 0 1 -5000 -5000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 6+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 8+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 8x 10000 10000 10000 0
|
||||
@@ -0,0 +1,23 @@
|
||||
Passthrough mixer for PX4FMU
|
||||
============================
|
||||
|
||||
This file defines passthrough mixers suitable for testing.
|
||||
|
||||
Channel group 0, channels 0-3 are passed directly through to the outputs.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+ 10000 10000 10000 0
|
||||
@@ -0,0 +1,7 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a quadrotor in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4x 10000 10000 10000 0
|
||||
@@ -0,0 +1,154 @@
|
||||
PX4 mixer definitions
|
||||
=====================
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
Mixer basics
|
||||
------------
|
||||
|
||||
Mixers combine control values from various sources (control tasks, user inputs,
|
||||
etc.) and produce output values suitable for controlling actuators; servos,
|
||||
motors, switches and so on.
|
||||
|
||||
An actuator derives its value from the combination of one or more control
|
||||
values. Each of the control values is scaled according to the actuator's
|
||||
configuration and then combined to produce the actuator value, which may then be
|
||||
further scaled to suit the specific output type.
|
||||
|
||||
Internally, all scaling is performed using floating point values. Inputs and
|
||||
outputs are clamped to the range -1.0 to 1.0.
|
||||
|
||||
control control control
|
||||
| | |
|
||||
v v v
|
||||
scale scale scale
|
||||
| | |
|
||||
| v |
|
||||
+-------> mix <------+
|
||||
|
|
||||
scale
|
||||
|
|
||||
v
|
||||
out
|
||||
|
||||
Scaling
|
||||
-------
|
||||
|
||||
Basic scalers provide linear scaling of the input to the output.
|
||||
|
||||
Each scaler allows the input value to be scaled independently for inputs
|
||||
greater/less than zero. An offset can be applied to the output, and lower and
|
||||
upper boundary constraints can be applied. Negative scaling factors cause the
|
||||
output to be inverted (negative input produces positive output).
|
||||
|
||||
Scaler pseudocode:
|
||||
|
||||
if (input < 0)
|
||||
output = (input * NEGATIVE_SCALE) + OFFSET
|
||||
else
|
||||
output = (input * POSITIVE_SCALE) + OFFSET
|
||||
|
||||
if (output < LOWER_LIMIT)
|
||||
output = LOWER_LIMIT
|
||||
if (output > UPPER_LIMIT)
|
||||
output = UPPER_LIMIT
|
||||
|
||||
Syntax
|
||||
------
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
Null Mixer
|
||||
..........
|
||||
|
||||
A null mixer consumes no controls and generates a single actuator output whose
|
||||
value is always zero. Typically a null mixer is used as a placeholder in a
|
||||
collection of mixers in order to achieve a specific pattern of actuator outputs.
|
||||
|
||||
The null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
Simple Mixer
|
||||
............
|
||||
|
||||
A simple mixer combines zero or more control inputs into a single actuator
|
||||
output. Inputs are scaled, and the mixing function sums the result before
|
||||
applying an output scaler.
|
||||
|
||||
A simple mixer definition begins with:
|
||||
|
||||
M: <control count>
|
||||
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
If <control count> is zero, the sum is effectively zero and the mixer will
|
||||
output a fixed value that is <offset> constrained by <lower limit> and <upper
|
||||
limit>.
|
||||
|
||||
The second line defines the output scaler with scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> value an offset within that group. These values are specific to
|
||||
the device reading the mixer definition.
|
||||
|
||||
When used to mix vehicle controls, mixer group zero is the vehicle attitude
|
||||
control group, and index values zero through three are normally roll, pitch,
|
||||
yaw and thrust respectively.
|
||||
|
||||
The remaining fields on the line configure the control scaler with parameters as
|
||||
discussed above. Whilst the calculations are performed as floating-point
|
||||
operations, the values stored in the definition file are scaled by a factor of
|
||||
10000; i.e. an offset of -0.5 is encoded as -5000.
|
||||
|
||||
Multirotor Mixer
|
||||
................
|
||||
|
||||
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
4x - quadrotor in X configuration
|
||||
4+ - quadrotor in + configuration
|
||||
6x - hexcopter in X configuration
|
||||
6+ - hexcopter in + configuration
|
||||
8x - octocopter in X configuration
|
||||
8+ - octocopter in + configuration
|
||||
|
||||
Each of the roll, pitch and yaw scale values determine scaling of the roll,
|
||||
pitch and yaw controls relative to the thrust control. Whilst the calculations
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
Reference in New Issue
Block a user