cloudship.main.mix
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Thrust tilt/ Starboard Thrust / Port Thrust / Tail Thrust mixer for PX4FMU
=======================================================
This file defines mixers suitable for controlling an airship with
a thrust tilt, starboard and port thruster and a tail thruster using PX4FMU.
The configuration assumes the starboard thruster is connected to PX4FMU
output 1, port thruster to output 2, tilt servo to output 3, and the
tail thruster to output 4.
Inputs to the mixer come from channel group 0 (vehicle attitude),
channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust).
Starboard and port thruster mixer
-----------------
Two scalers total (output, thrust).
By default mixer output is normalized. The input is in the (0 - 1) range.
M: 1
S: 0 3 0 20000 -10000 -10000 10000
M: 1
S: 0 3 0 20000 -10000 -10000 10000
Servo controlling tilt mixer
------------
Two scalers total (output, tilt angle).
This mixer assumes that the tilt servo is 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: 1
S: 0 1 10000 10000 0 -10000 10000
Tail thruster mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the tail thruster is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the motor movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
S: 0 2 10000 10000 0 -10000 10000