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use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4]

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[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-04-27 16:39:11 +02:00
parent 7e6aa28106
commit 21a2892f47
11 changed files with 25 additions and 19 deletions
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4
ROMFS/px4fmu_test/mixers/vtol2_test.mix
View File

@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
#RIGHT up:2000 down:1000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 -20000 9000 -10000 10000
S: 1 8 0 -20000 9000 -10000 10000
S: 0 2 4000 4000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 4000 4000 0 -10000 10000
Elevon mixers

4
ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix
View File

@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
#RIGHT up:2000 down:1000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 -20000 10000 -10000 10000
S: 1 8 0 -20000 10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -10000 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 8000 8000 0 -10000 10000
Elevon mixers