mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 19:32:36 +08:00
Jakub Kákona
40 lines
788 B
Plaintext
40 lines
788 B
Plaintext
TF-G2 autogyro mixer
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==================================================
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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CH1: empty - fixing cuav nano jittering of 1st output.
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Z:
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CH2, 3: rotor-head mixer
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-------------
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Two scalers total (output, roll).
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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CH4: Rudder mixer
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------------
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Two scalers total (output, yaw).
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M: 1
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S: 0 2 10000 10000 0 -10000 10000
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CH5: Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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M: 1
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S: 0 3 0 20000 -10000 -10000 10000
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