rover_diff_and_servo.main.mix
1.2 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Generic car mixer (eg DF Robot GPX:Asurada RC Car)
===========================
Designed for DF Robot GPX:Asurada
This file defines mixers suitable for controlling a DF Robot GPX:Asurada rover using
PX4FMU. The configuration assumes the steering is connected to PX4FMU
servo outputs 1 and the motor speed controls to output 2 and 3. Output 0 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), and 3 (thrust).
See the README for more information on the scaler format.
Output 1 - Empty
-----------------------------------------
Z:
Output 2 - Steering mixer using yaw
------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000 5000
S: 0 2 10000 10000 0 -10000 10000
Output 3 - Left row of wheels using yaw and throttle (1s rise time)
------------------------------------------
M: 2
O: 10000 10000 0 -10000 10000 10000
S: 0 2 -500 -500 0 0 10000
S: 0 3 10000 10000 0 -10000 10000
Output 4 - Right row of wheels using yaw and throttle (1s rise time)
------------------------------------------
M: 2
O: 10000 10000 0 -10000 10000 10000
S: 0 2 500 500 0 0 10000
S: 0 3 10000 10000 0 -10000 10000