Merge pull request #3213 from sanderux/master

Added V-Tail VTOL config and mixer

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
+#
+# @type Standard VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 0.75
+
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+	
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 12345678
+
+set MIXER_AUX vtol_AAVVT
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix

@@ -0,0 +1,59 @@
+Aileron/v-tail/throttle VTOL mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU 
+AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+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.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 6 -10000 -10000      0 -10000  10000
+
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 2  -7000  -7000      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 2  -7000  -7000      0 -10000  10000
+S: 1 1   8000   8000      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: 1 3      0  20000 -10000 -10000  10000
+