Mixing: Syntax and virtual control group info. #994
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| Mixer files are text files that define one or more mixer definitions: mappings between one or more inputs and one or more outputs. | ||
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| There are four types of mixers definitions: [multirotor mixer](#multirotor_mixer), [helicopter mixer](#helicopter_mixer), [summing mixer](#summing_mixer), and [null mixer](#null_mixer). | ||
| - [Multirotor mixer](#multirotor_mixer) - Defines outputs for 4, 6, or 8 rotor vehicles with + or X geometry. |
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There's more flexibility here, e.g. tricopters, or prop-in vs. prop-out. Do we have docs for the mixer geometry files under https://github.com/PX4/Firmware/tree/master/src/lib/mixer/MultirotorMixer/geometries?
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@bkueng No docs on geometry files - I'm still hoping @jlecoeur can provide the documentation: #349 :-)
I think perhaps given that Julien posted that in 2017 we should perhaps work on that now. Can you help? Specifically, what is geometry file, how do you create it, how does it then relate to the mixer. Let's continue discussion on #349?
Once that is understood perhaps I can add tricopters to this list here.
For now, I plan to merge this.
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Ah right. Ok if Julien does not reply, ping me again and I can probably fill in the gaps.
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Oops, it is high time to get this done
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@jlecoeur Was that a commitment to getting this done at a particular time? :-) Or do I need to try get Beat to help fix this?
Fix for #868
Note, this fixes the specific problems listed in #868. That is not to say that the mixer documentation is now perfect.
What it makes clear is: