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VTOL mixers: invert FW roll sign in builtin mixers

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This inversion matches the fixed sign in the commands generated
by the VTOL attitude controller.
This commit, combined with the previous commit, should have no effect.
For safety, it is recommended to check the direction of roll control
surfaces before flight.
This commit is contained in:
Julien Lecoeur
2019-02-05 20:33:27 +01:00
committed by Daniel Agar
parent e1caecc99a
commit e28f8a7f2e
13 changed files with 26 additions and 26 deletions
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ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix
+2 -2
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@@ -7,11 +7,11 @@ Z:
# left elevon
M: 1
S: 1 0 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# right elevon
M: 1
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the virtual elevator
M: 1
ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix
+2 -2
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@@ -13,12 +13,12 @@ S: 1 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1
ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix
+2 -2
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@@ -28,12 +28,12 @@ S: 1 4 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1
ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
+2 -2
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@@ -30,10 +30,10 @@ Channel 6 connects to the left (port) elevon.
M: 2
O: 7500 7500 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
M: 2
O: 7500 7500 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/claire.aux.mix
+2 -2
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@@ -20,9 +20,9 @@ Elevon mixers
M: 2
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 7500 7500 0 -10000 10000
M: 2
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 -7500 -7500 0 -10000 10000
ROMFS/px4fmu_common/mixers/deltaquad.main.mix
+2 -2
View File
@@ -18,14 +18,14 @@ input is inverted between the two servos.
-------------
M: 2
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 0 8000 8000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
6: left
-------------
M: 2
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 0 8000 8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+2 -2
View File
@@ -9,11 +9,11 @@ S: 1 4 0 20000 -10000 -10000 10000
Elevon mixers
-------------
M: 2
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Landing gear mixer
ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+2 -2
View File
@@ -8,10 +8,10 @@ R: 4x 10000 10000 10000 0
# left elevon
M: 2
S: 1 0 5000 5000 0 -10000 10000
S: 1 0 -5000 -5000 0 -10000 10000
S: 1 1 5000 5000 0 -10000 10000
# right elevon
M: 2
S: 1 0 5000 5000 0 -10000 10000
S: 1 0 -5000 -5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000
ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
+2 -2
View File
@@ -11,11 +11,11 @@ S: 1 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
S: 1 0 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the right aileron
M: 1
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1
ROMFS/px4fmu_common/mixers/vtol_AAERT.aux.mix
+2 -2
View File
@@ -4,12 +4,12 @@ Mixer for an AAERT VTOL
Aileron 1 mixer
---------------
M: 1
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
Aileron 2 mixer
---------------
M: 1
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
Elevator mixer
--------------
ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
+2 -2
View File
@@ -19,11 +19,11 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 2
S: 1 0 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
M: 2
S: 1 0 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 6 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix
+2 -2
View File
@@ -20,9 +20,9 @@ S: 0 2 8000 8000 0 -10000 10000
Elevon mixers
-------------
M: 2
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
+2 -2
View File
@@ -18,11 +18,11 @@ On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
M: 2
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 0 8000 8000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 0 8000 8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Motor speed mixer