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posix-configs: use 'mixer append' command for typhoon mount mixer

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This commit is contained in:
Beat Küng
2016-09-19 07:54:51 +02:00
parent 5825b8c3e7
commit 057d71e101
4 changed files with 29 additions and 25 deletions
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ROMFS/px4fmu_common/mixers/hexa_x.main.mix
-25
View File
@@ -2,28 +2,3 @@
R: 6x 10000 10000 10000 0
# Roll channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
# Pitch channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
# Yaw channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
# mixer for left leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 0 20000 -10000 -10000 10000
# mixer for right leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 8 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+27
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@@ -0,0 +1,27 @@
# Roll channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
# Pitch channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
# Yaw channel for mount
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
# mixer for left leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 0 20000 -10000 -10000 10000
# mixer for right leg
M: 1
O: 10000 10000 0 -10000 10000
S: 0 8 0 20000 -10000 -10000 10000
posix-configs/SITL/init/ekf2/typhoon_h480
+1
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@@ -60,6 +60,7 @@ ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
posix-configs/SITL/init/lpe/typhoon_h480
+1
View File
@@ -61,6 +61,7 @@ local_position_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556