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118 lines
6.8 KiB
Markdown
118 lines
6.8 KiB
Markdown
# MixerProfile
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A MixerProfile is a set of motor mixer, servo-mixer and platform type configuration settings. It is designed for experienced inav users.
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### For a tutorial of vtol setup, Read https://github.com/iNavFlight/inav/blob/master/docs/VTOL.md
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Not limited to VTOL. air/land/sea mixed vehicle is also achievable with this feature. Model behaves according to current mixer_profile's platform_type and configured custom motor/servo mixer
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Currently two profiles are supported on targets other than F411(due to resource constraints on F411). i.e VTOL transition is not available on F411.
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For VTOL setup. one mixer_profile is used for multi-rotor(MR) and the other is used for fixed-wing(FW)
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By default, switching between profiles requires reboot to take affect. However, using the RC mode: `MIXER PROFILE 2` will allow in flight switching for things like VTOL operation
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. And will re-initialize pid and navigation controllers for current MC or FW flying mode.
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Please note that this is an emerging / experimental capability that will require some effort by the pilot to implement.
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## Mixer Transition input
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Typically, 'transition input' will be useful in MR mode to gain airspeed.
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The associated motor or servo will then move accordingly when transition mode is activated.
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Transition input is disabled when navigation mode is activate
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The use of Transition Mode is recommended to enable further features and future developments like fail-safe support. Mapping motor to servo output, or servo with logic conditions is **not** recommended
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## Servo
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`Mixer Transition` is the input source for transition input; use this to tilt motor to gain airspeed.
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Example: Increase servo 1 output by +45 with speed of 150 when transition mode is activated for tilted motor setup:
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```
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# rule no; servo index; input source; rate; speed; activate logic function number
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smix 6 1 38 45 150 -1
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```
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## Motor
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The default `mmix` throttle value is 0.0, It will not show in `diff` command when throttle value is 0.0 (unused);
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- 0.0<throttle<=1.0 : normal mapping
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- -1.0<throttle<=0.0 : motor stop, default value 0, set to -1 to use a place holder for subsequent motor rules
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- -2.0<throttle<-1.0 : spin regardless of throttle position at speed `abs(throttle)-1` when Mixer Transition is activated.
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Airmode type should be set to "STICK_CENTER". Airmode type must NOT be set to "THROTTLE_THRESHOLD". If set to throttle threshold the (-) motor will spin till throttle threshold is passed.
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Example: This will spin motor number 5 (counting from 1) at 20%, in transition mode only, to gain speed for a "4 rotor 1 pusher" setup:
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```
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# motor number; throttle; roll; pitch; yaw
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mmix 4 -1.200 0.000 0.000 0.000
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```
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## RC mode settings
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It is recommend that the pilot uses a RC mode switch to activate modes or switch profiles.
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Profile files Switching is not available until the runtime sensor calibration is done. Switching is NOT available when navigation mode is activate.
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`mixer_profile` 1 will be used as default, `mixer_profile` 2 will be used when the `MIXER PROFILE 2` mode box is activated.
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Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input for motors and servos. Here is sample of using these RC modes:
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| 1000~1300 | 1300~1700 | 1700~2000 |
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| :-- | :-- | :-- |
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| FW(profile1) with transition off | MC(profile2) with transition on | MC(profile2) with transition off |
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It is also possible to set it as 4 state switch by adding FW(profile1) with transition on.
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## Automated Transition
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This feature is mainly for RTH in a failsafe event. When set properly, model will use the FW mode to fly home efficiently, And land in the MC mode for easier landing.
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`ON` for a mixer_profile\`s `mixer_automated_switch` means to schedule a Automated Transition when RTH head home(applies for MC mixer_profile) or RTH Land(applies for FW mixer_profile) is requested by navigation controller.
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Set `mixer_automated_switch` to `ON` in mixer_profile for MC mode. Set `mixer_switch_trans_timer` in mixer_profile for MC mode for the time required to gain airspeed for your model before entering to FW mode.
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When `mixer_automated_switch`:`OFF` is set for all mixer_profiles(defaults). Model will not perform automated transition at all.
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## TailSitter (planned for INAV 7.1)
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TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing set `tailsitter_orientation_offset = ON ` to apply orientation offset. orientation offset will also add a 45deg orientation offset.
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## Parameter list (Partial List)
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#### Please be aware of what parameter is shared among FW/MC modes and what isn't.
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### Shared Parameters
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- **Timer Overrides**
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- **Outputs [Servo]:**
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- Servo min-point, mid-point, max-point settings
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- **Motor Configuration:**
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- motor_pwm_protocol
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- motor_poles
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- **Servo Configuration:**
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- servo_protocol
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- servo_pwm_rate
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- **Board Alignment**
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- ·······
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### Profile-Specific Parameters in VTOL
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- **Mixer Profile**
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- **Mixer Configuration:**
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- platform_type
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- motor_stop_on_low
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- tailsitter_orientation_offset
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- motor_direction_inverted, and more·······
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- **Motor Mixing (mmix)**
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- **Servo Mixing (smix)**
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- **PID Profile**
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- PIDs for Roll, Pitch, Yaw
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- PIDs for Navigation Modes
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- TPA (Throttle PID Attenuation) Settings
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- Rate Settings
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- ·······
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### TailSitter support
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TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing `set platform_type = TAILSITTER`. The `TAILSITTER` platform type is same as `MULTIROTOR` platform type, expect for a 90 deg board alignment offset. In `TAILSITTER` mixer_profile, when motor trust/airplane nose is pointing to the sky, 'airplane bottom'/'multi rotor front' should facing forward in model preview. Set the motor/servo mixer according to multirotor orientation, Model should roll around geography's longitudinal axis, the roll axis of `TAILSITTER` will be yaw axis of `AIRPLANE`. In addition, When `MIXER TRANSITION` input is activated, a 45deg offset will be add to the target angle for angle mode.
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## Happy flying
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Remember that this is currently an emerging capability:
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* Test every thing on bench first.
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* Try MR or FW mode separately see if there are any problems.
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* Use the INAV Discord for help and setup questions; use the Github Issues for reporting bugs and unexpected behaviors. For reporting on Github, a CLI `diff all`, a DVR and a Blackbox log of the incident will assist investigation.
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