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VERY rough mixer definitions for quadrotors in X and + configuration using PX4FMU.

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px4dev
2012-08-05 20:20:46 -07:00
parent 528095a20b
commit 74b8e31fd8
2 changed files with 108 additions and 0 deletions
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ROMFS/mixers/FMU_quad+.mix
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Quadrotor + mixer for PX4FMU
============================
This file defines mixers suitable for controlling a quadrotor in the +
arrangement using PX4FMU. The configuration assumes the motors are connected
starting with the front motor on output 0 and proceeding clockwise.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
See the README for more information on the scaler format.
Scale values here will definitely need tuning.
Front
-----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 0 0 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Right
-----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 1000 1000 0 -10000 10000
S: 0 1 0 0 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Back
----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 0 0 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Left
----
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 -1000 -1000 0 -10000 10000
S: 0 1 0 0 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/mixers/FMU_quadX.mix
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Quadrotor X mixer for PX4FMU
============================
This file defines mixers suitable for controlling a quadrotor in the X
arrangement using PX4FMU. The configuration assumes the motors are connected
starting with the front-right motor on output 0 and proceeding clockwise.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
See the README for more information on the scaler format.
Scale values here will definitely need tuning.
Front right
-----------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 1000 1000 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Back right
----------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 1000 1000 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Back left
---------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 -1000 -1000 0 -10000 10000
S: 0 1 -1000 -1000 0 -10000 10000
S: 0 2 1000 1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Front left
----------
M: 4
S: 0 0 10000 10000 0 -10000 10000
S: 0 0 -1000 -1000 0 -10000 10000
S: 0 1 1000 1000 0 -10000 10000
S: 0 2 -1000 -1000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000