mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-21 21:55:34 +08:00
Hotfix and cleanup for system mixers
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,39 @@
|
||||
#!nsh
|
||||
#
|
||||
# UNTESTED UNTESTED!
|
||||
#
|
||||
# Generic 10” Hexa coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
#
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
then
|
||||
#
|
||||
# Default parameters for this platform
|
||||
#
|
||||
param set MC_ATT_P 7.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATTRATE_P 0.12
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_D 0.004
|
||||
param set MC_YAWPOS_P 2.0
|
||||
param set MC_YAWPOS_I 0.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MC_YAWRATE_I 0.2
|
||||
param set MC_YAWRATE_D 0.005
|
||||
|
||||
# TODO add default MPC parameters
|
||||
fi
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER hexa_cox
|
||||
|
||||
set PWM_OUTPUTS 12345678
|
||||
set PWM_RATE 400
|
||||
# DJI ESC range
|
||||
set PWM_DISARMED 900
|
||||
set PWM_MIN 1200
|
||||
set PWM_MAX 1900
|
||||
+2
-2
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Generic 10” Octo coaxial geometry
|
||||
#
|
||||
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
#
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
@@ -29,7 +29,7 @@ fi
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER FMU_octo_cox
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
set PWM_OUTPUTS 12345678
|
||||
set PWM_RATE 400
|
||||
# DJI ESC range
|
||||
set PWM_DISARMED 900
|
||||
@@ -29,7 +29,7 @@ fi
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER FMU_hexa_x
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
set PWM_OUTPUTS 12345678
|
||||
set PWM_RATE 400
|
||||
# DJI ESC range
|
||||
set PWM_DISARMED 900
|
||||
|
||||
@@ -29,7 +29,7 @@ fi
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER FMU_hexa_+
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
set PWM_OUTPUTS 12345678
|
||||
set PWM_RATE 400
|
||||
# DJI ESC range
|
||||
set PWM_DISARMED 900
|
||||
|
||||
@@ -29,7 +29,7 @@ fi
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER FMU_octo_x
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
set PWM_OUTPUTS 12345678
|
||||
set PWM_RATE 400
|
||||
# DJI ESC range
|
||||
set PWM_DISARMED 900
|
||||
|
||||
@@ -29,7 +29,7 @@ fi
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER FMU_octo_+
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
set PWM_OUTPUTS 12345678
|
||||
set PWM_RATE 400
|
||||
# DJI ESC range
|
||||
set PWM_DISARMED 900
|
||||
|
||||
@@ -185,11 +185,20 @@ then
|
||||
sh /etc/init.d/10016_3dr_iris
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa Coaxial
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 11001
|
||||
then
|
||||
sh /etc/init.d/11001_hexa_cox
|
||||
fi
|
||||
|
||||
#
|
||||
# Octo Coaxial
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 12001
|
||||
then
|
||||
sh /etc/init.d/12001_octo_cox_pwm
|
||||
sh /etc/init.d/12001_octo_cox
|
||||
fi
|
||||
|
||||
@@ -467,19 +467,23 @@ then
|
||||
# Use mixer to detect vehicle type
|
||||
if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ]
|
||||
then
|
||||
param set MAV_TYPE 13
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER == hexa_cox ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
|
||||
then
|
||||
param set MAV_TYPE 14
|
||||
set MAV_TYPE 14
|
||||
fi
|
||||
if [ $MIXER == FMU_octo_cox ]
|
||||
then
|
||||
param set MAV_TYPE 14
|
||||
set MAV_TYPE 14
|
||||
fi
|
||||
fi
|
||||
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
@@ -1,18 +1,3 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the + configuration. All controls
|
||||
are mixed 100%.
|
||||
# Hexa +
|
||||
|
||||
R: 6+ 10000 10000 10000 0
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
|
||||
@@ -1,18 +1,3 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a hexacopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
# Hexa X
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
|
||||
Gimbal / payload mixer for last two channels
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
|
||||
@@ -1,7 +1,3 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a Coaxial Octocopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
# Octo coaxial
|
||||
|
||||
R: 8c 10000 10000 10000 0
|
||||
|
||||
@@ -1,7 +1,3 @@
|
||||
Multirotor mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
This file defines a single mixer for a octocopter in the X configuration. All controls
|
||||
are mixed 100%.
|
||||
# Octo X
|
||||
|
||||
R: 8x 10000 10000 10000 0
|
||||
|
||||
@@ -1,154 +0,0 @@
|
||||
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.
|
||||
@@ -0,0 +1,3 @@
|
||||
# Hexa coaxial
|
||||
|
||||
R: 6c 10000 10000 10000 0
|
||||
Reference in New Issue
Block a user