From 6281d0a2c4dcb515db781d7dda14789943a3b1c3 Mon Sep 17 00:00:00 2001
From: acfloria <florian.achermann@mavt.ethz.ch>
Date: Tue, 13 Feb 2018 17:22:04 +0100
Subject: [PATCH] Add AERT mixer

---
 ROMFS/px4fmu_common/mixers/AERT.main.mix | 81 ++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/mixers/AERT.main.mix

diff --git a/ROMFS/px4fmu_common/mixers/AERT.main.mix b/ROMFS/px4fmu_common/mixers/AERT.main.mix
new file mode 100644
index 000000000000..975d520081f8
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/AERT.main.mix
@@ -0,0 +1,81 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1: Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+CH2: Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+CH3: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+CH4: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+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.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+CH5: Flaps mixer
+------------
+Flaps are controlled automatically in position control and auto
+but can also be controlled manually
+
+M: 1
+O: 5000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+Ch6: Landing gear mixer
+------------
+By default pass-through of gear switch
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 3 5 10000 10000 0 -10000 10000
\ No newline at end of file