控制组
PX4 系统中使用控制组(输入)和输出组。 从概念上讲这两个东西非常简单: 一个控制组可以是核心飞行控制器的 姿态,也可以是载荷的 云台 。 一个输出组则是一个物理上的总线,例如 飞控上最开始的 8 个 PWM 舵机输出口。 每一个组都有 8 个单位化(-1…+1)的指令端口,这些端口可以通过混控器进行映射和缩放。 混控器定义了这 8 个控制信号如何连接至 8 个输出口。
对于一个简单的飞机来说 control 0(滚转)直接与 output 0(副翼)相连接。 对于多旋翼而言事情要稍有不同:control 0(滚转)与全部四个电机相连接,并会被整合至油门指令中。
#控制组 #0 (Flight Control)
0:roll (-1…1)
1:pitch (-1…1)
2:yaw (-1…1)
3:throttle (正常范围为 0…1,变距螺旋桨和反推动力情况下范围为 -1…1)
4:flaps (-1…1)
5:spoilers (-1…1)
6:airbrakes (-1…1)
7:landing gear (-1…1)
#控制组 #1 (Flight Control VTOL/Alternate)
0:roll ALT (-1…1)
1:pitch ALT (-1…1)
2:yaw ALT (-1…1)
3:throttle ALT (正常范围为 0…1,变距螺旋桨和反推动力情况下范围为 -1…1)
4:保留 / aux0
5:reserved / aux1
6:保留 / aux2
7:保留 / aux3
#控制组 #2 (Gimbal)
0:gimbal roll
1:gimbal pitch
2: gimbal yaw
3: gimbal shutter
4:保留
5:保留
6:保留
7:保留 (降落伞, -1…1)
#控制组 #3 (Manual Passthrough)
0: RC roll
1: RC pitch
2: RC yaw
3: RC throttle
4: RC mode switch
5: RC aux1
6: RC aux2
7: RC aux3
注解
This group is only used to define mapping of RC inputs to specific outputs during normal operation (see quad_x.main.mix (opens new window)for an example of AUX2 being scaled in a mixer). In the event of manual IO failsafe override (if the PX4FMU stops communicating with the PX4IO board) only the mapping/mixing defined by control group 0 inputs for roll, pitch, yaw and throttle are used (other mappings are ignored).
#控制组 #6 (First Payload)
0: function 0 (默认:降落伞)
1: function 1
2: function 2
3: function 3
4: function 4
5: function 5
6: function 6
7: function 7
#虚拟控制组
注意
Virtual Control Groups are only relevant to developers creating VTOL code. They should not be used in mixers, and are provided only for “completeness”.
These groups are NOT mixer inputs, but serve as meta-channels to feed fixed wing and multicopter controller outputs into the VTOL governor module.
#控制组 #4 (Flight Control MC VIRTUAL)
0:roll ALT (-1…1)
1:pitch ALT (-1…1)
2:yaw ALT (-1…1)
3: throttle ALT (正常范围为 0…1,变距螺旋桨和反推动力情况下范围为 -1…1)
4:保留 / aux0
5:保留 / aux1
6:保留 / aux2
7:保留 / aux3
#控制组 #5 (Flight Control FW VIRTUAL)
0: roll ALT (-1…1)
1: pitch ALT (-1…1)
2: yaw ALT (-1…1)
3: throttle ALT (正常范围为 0…1,变距螺旋桨和反推动力情况下范围为 -1…1)
4:保留 / aux0
5:保留 / aux1
6:保留 / aux2
7:保留 / aux3