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Update mixer documentation.

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Dominic Clifton 2015-07-08 13:59:22 +01:00
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3
docs/Cli.md
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@ -75,7 +75,8 @@ Re-apply any new defaults as desired.
|------------------|------------------------------------------------|
| `adjrange` | show/set adjustment ranges settings |
| `aux` | show/set aux settings |
| `cmix` | design custom mixer |
| `mmix` | design custom motor mixer |
| `smix` | design custom servo mixer |
| `color` | configure colors |
| `defaults` | reset to defaults and reboot |
| `dump` | print configurable settings in a pastable form |

113
docs/Mixer.md
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@ -14,31 +14,33 @@ You can also use the Command Line Interface (CLI) to set the mixer type:
## Supported Mixer Types
| Name | Description | Motors | Servos |
| ------------- | ------------------------- | -------------- | ---------------- |
| TRI | Tricopter | M1-M3 | S1 |
| QUADP | Quadcopter-Plus | M1-M4 | None |
| QUADX | Quadcopter-X | M1-M4 | None |
| BI | Bicopter (left/right) | M1-M2 | S1, S2 |
| GIMBAL | Gimbal control | N/A | S1, S2 |
| Y6 | Y6-copter | M1-M6 | None |
| HEX6 | Hexacopter-Plus | M1-M6 | None |
| FLYING_WING | Fixed wing; elevons | M1 | S1, S2 |
| Y4 | Y4-copter | M1-M4 | None |
| HEX6X | Hexacopter-X | M1-M6 | None |
| OCTOX8 | Octocopter-X (over/under) | M1-M8 | None |
| OCTOFLATP | Octocopter-FlatPlus | M1-M8 | None |
| OCTOFLATX | Octocopter-FlatX | M1-M8 | None |
| AIRPLANE | Fixed wing; Ax2, R, E | M1 | S1, S2, S3, S4 |
| HELI_120_CCPM | | | |
| HELI_90_DEG | | | |
| VTAIL4 | Quadcopter with V-Tail | M1-M4 | N/A |
| HEX6H | Hexacopter-H | M1-M6 | None |
| PPM_TO_SERVO | | | |
| DUALCOPTER | Dualcopter | M1-M2 | S1, S2 |
| SINGLECOPTER | Conventional helicopter | M1 | S1 |
| ATAIL4 | Quadcopter with A-Tail | M1-M4 | N/A |
| CUSTOM | User-defined | | |
| Name | Description | Motors | Servos |
| ---------------- | ------------------------- | -------------- | ---------------- |
| TRI | Tricopter | M1-M3 | S1 |
| QUADP | Quadcopter-Plus | M1-M4 | None |
| QUADX | Quadcopter-X | M1-M4 | None |
| BI | Bicopter (left/right) | M1-M2 | S1, S2 |
| GIMBAL | Gimbal control | N/A | S1, S2 |
| Y6 | Y6-copter | M1-M6 | None |
| HEX6 | Hexacopter-Plus | M1-M6 | None |
| FLYING_WING | Fixed wing; elevons | M1 | S1, S2 |
| Y4 | Y4-copter | M1-M4 | None |
| HEX6X | Hexacopter-X | M1-M6 | None |
| OCTOX8 | Octocopter-X (over/under) | M1-M8 | None |
| OCTOFLATP | Octocopter-FlatPlus | M1-M8 | None |
| OCTOFLATX | Octocopter-FlatX | M1-M8 | None |
| AIRPLANE | Fixed wing; Ax2, R, E | M1 | S1, S2, S3, S4 |
| HELI_120_CCPM | | | |
| HELI_90_DEG | | | |
| VTAIL4 | Quadcopter with V-Tail | M1-M4 | N/A |
| HEX6H | Hexacopter-H | M1-M6 | None |
| PPM_TO_SERVO | | | |
| DUALCOPTER | Dualcopter | M1-M2 | S1, S2 |
| SINGLECOPTER | Conventional helicopter | M1 | S1 |
| ATAIL4 | Quadcopter with A-Tail | M1-M4 | N/A |
| CUSTOM | User-defined | | |
| CUSTOM AIRPLANE | User-defined airplane | | |
| CUSTOM TRICOPTER | User-defined tricopter | | |
## Servo filtering
@ -76,8 +78,8 @@ Custom motor mixing allows for completely customized motor configurations. Each
Steps to configure custom mixer in the CLI:
1. Use `mixer custom` to enable the custom mixing.
2. Use `cmix reset` to erase the any existing custom mixing.
3. Issue a cmix statement for each motor.
2. Use `mmix reset` to erase the any existing custom mixing.
3. Issue a `mmix` statement for each motor.
The cmix statement has the following syntax: `cmix n THROTTLE ROLL PITCH YAW`
@ -89,6 +91,27 @@ The cmix statement has the following syntax: `cmix n THROTTLE ROLL PITCH YAW`
| PITCH | Indicates the pitch authority this motor has over the flight controller. Also accepts values nominally from 1.0 to -1.0. |
| YAW | Indicates the direction of the motor rotation in relationship with the flight controller. 1.0 = CCW -1.0 = CW. |
## Custom Servo Mixing
Custom servo mixing rules can be applied to each servo. Rules are applied in the order they are defined.
| id | Input sources |
| -- | ------------- |
| 0 | Stabilised ROLL |
| 1 | Stabilised PITCH |
| 2 | Stabilised YAW |
| 3 | Stabilised THROTTLE |
| 4 | RC ROLL |
| 5 | RC ITCH |
| 6 | RC YAW |
| 7 | RC THROTTLE |
| 8 | RC AUX 1 |
| 9 | RC AUX 2 |
| 10 | RC AUX 3 |
| 11 | RC AUX 4 |
| 12 | GIMBAL PITCH |
| 13 | GIMBAL ROLL |
### Example 1: A KK2.0 wired motor setup
Here's an example of a X configuration quad, but the motors are still wired using the KK board motor numbering scheme.
@ -103,11 +126,11 @@ KK2.0 Motor Layout
```
1. Use `mixer custom`
2. Use `cmix reset`
3. Use `cmix 1 1.0, 1.0, -1.0, -1.0` for the Front Left motor. It tells the flight controller the #1 motor is used, provides positive roll, provides negative pitch and is turning CW.
4. Use `cmix 2 1.0, -1.0, -1.0, 1.0` for the Front Right motor. It still provides a negative pitch authority, but unlike the front left, it provides negative roll authority and turns CCW.
5. Use `cmix 3 1.0, -1.0, 1.0, -1.0` for the Rear Right motor. It has negative roll, provides positive pitch when the speed is increased and turns CW.
6. Use `cmix 4 1.0, 1.0, 1.0, 1.0` for the Rear Left motor. Increasing motor speed imparts positive roll, positive pitch and turns CCW.
2. Use `mmix reset`
3. Use `mmix 0 1.0, 1.0, -1.0, -1.0` for the Front Left motor. It tells the flight controller the #1 motor is used, provides positive roll, provides negative pitch and is turning CW.
4. Use `mmix 1 1.0, -1.0, -1.0, 1.0` for the Front Right motor. It still provides a negative pitch authority, but unlike the front left, it provides negative roll authority and turns CCW.
5. Use `mmix 2 1.0, -1.0, 1.0, -1.0` for the Rear Right motor. It has negative roll, provides positive pitch when the speed is increased and turns CW.
6. Use `mmix 3 1.0, 1.0, 1.0, 1.0` for the Rear Left motor. Increasing motor speed imparts positive roll, positive pitch and turns CCW.
### Example 2: A HEX-U Copter
@ -121,13 +144,25 @@ HEX6-U
.5...FC...2.
............
...6....1...
```
|Command| Roll | Pitch | Yaw |
| ----- | ---- | ----- | --- |
| Use `cmix 1 1.0, -0.5, 1.0, -1.0` | half negative | full positive | CW |
| Use `cmix 2 1.0, -1.0, 0.0, 1.0` | full negative | none | CCW |
| Use `cmix 3 1.0, -1.0, -1.0, -1.0` | full negative | full negative | CW |
| Use `cmix 4 1.0, 1.0, -1.0, 1.0` | full positive | full negative | CCW |
| Use `cmix 5 1.0, 1.0, 0.0, -1.0` | full positive | none | CW |
| Use `cmix 6 1.0, 0.5, 1.0, 1.0` | half positive | full positive | CCW |
| Use `mmix 1 1.0, -0.5, 1.0, -1.0` | half negative | full positive | CW |
| Use `mmix 1 1.0, -1.0, 0.0, 1.0` | full negative | none | CCW |
| Use `mmix 2 1.0, -1.0, -1.0, -1.0` | full negative | full negative | CW |
| Use `mmix 3 1.0, 1.0, -1.0, 1.0` | full positive | full negative | CCW |
| Use `mmix 4 1.0, 1.0, 0.0, -1.0` | full positive | none | CW |
| Use `mmix 5 1.0, 0.5, 1.0, 1.0` | half positive | full positive | CCW |
### Example 3: Custom tricopter
```
mixer CUSTOMTRI
mmix reset
mmix 0 1.000 0.000 1.333 0.000
mmix 1 1.000 -1.000 -0.667 0.000
mmix 2 1.000 1.000 -0.667 0.000
smix reset
smix 0 6 3 100 0 0 100 0
```