vtol_delta.aux.mix
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Delta-wing VTOL mixer
=====================
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
AUX servo outputs 0 and 1 and the motor speed control to output 2.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
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 1 8000 8000 0 -10000 10000
M: 2
S: 1 0 8000 8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
S: 1 3 0 20000 -10000 -10000 10000
Reverse thrust (brake) mixer
-----------------
M: 1
S: 1 6 0 20000 -10000 -10000 10000
Aux1 mixer
-----------------
This is actuated on the AUX5 port
M: 1
S: 3 5 10000 10000 0 -10000 10000