I use on sdcard a specific mixer for my FlyingWIng (see below)
Basically i use half of the course of 2 rudders as Air-brakes
I call it via “Flap” command and it’s work pretty well under px4-1.12.3…
But under px4-1.13.0 only the 2nd half way of rudders and flaps are active the both first half-commands stay with no effect, work well on the two upper half…
Blast my brain lol
HalfBreath mixer for PX4FMU
Designed for HalfBreath DeltaWing
This file defines mixers suitable for controlling a BrunWeil HalfBreath wing aircraft using PX4FMU.
The configuration assumes PX4FMU servo outputs are connected as follow:
0: Left Elevon
1: Right Elevon
2: Left Rudder
3: Speed Control
4: Right Rudder
Inputs to the mixer come from channel group 0 (vehicle attitude):
channels 0 (roll), 1 (pitch), 2 (yaw), 3 (thrust) and 4 (Flap).
As all output lines is Std they was omited (O: 10000 10000 0 -10000 10000)
Elevons mixers
Three scalers total (output, roll, pitch).
This first block of code is for Servo 0.(Left Elevon)
M: 2
S: 0 0 -6500 -5500 0 -10000 10000
S: 0 1 6500 6500 0 -10000 10000
And this is for Servo 1.(Right Elevon)
M: 2
S: 0 0 -5500 -6500 0 -10000 10000
S: 0 1 -6500 -6500 0 -10000 10000
The scaling factor for roll inputs (S: 0 0) is adjusted to implement differential travel for the elevons.
On the assumption that the two elevons servos are physically reversed:
Since to roll the plane, the two ailerons must move in OPPOSITE directions, the signs of the seconds lines (S: 0 0) are identical.
Since to pitch the plane, both servos need to move in the SAME direction, the pitch input thirds lines (S: 0 1)is inverted between the two servos,
Note that in principle, you could implement left/right wing asymmetric mixing, but in general the two blocks of code will be numerically equal, and just differ by the sign of the thirds lines (S: 0 1).
Output 2 (Left Rudder)
Three scalers total (output, Yaw, Flap).
M: 2
S: 0 2 20000 0 10000 -10000 10000
S: 0 4 -8500 -8500 0 -10000 10000
On the assumption that the two Rudder servos are physically reversed (see OutPut 4) the two Yaw inputs (S: 0 2) get the same sign.
In this case Differential set is maximum: each servo take half of the Yaw input, Positive for one negative for the other.
Maximum offset but oposites signs.
Motor speed mixer
Two scalers total (output, thrust).
M: 1
S: 0 3 0 20000 -10000 -10000 10000
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.
Output 4 (Right Rudder)
Three scalers total (output, Yaw, Flap).
M: 2
S: 0 2 0 20000 -10000 -10000 10000
S: 0 4 8500 8500 0 -10000 10000