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Update SITL Gazebo model

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This commit is contained in:
Lorenz Meier
2016-06-17 22:44:42 +02:00
parent afa9467dad
commit 413233341e
2 changed files with 17 additions and 15 deletions
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ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
+16 -14
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@@ -1,24 +1,26 @@
Mixer for standard vtol plane (SITL) with motor x configuration Mixer for standard vtol plane (SITL) with motor x configuration
========================================================= =========================================================
This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
in order to make the standard vtol simulation compatible with the tailsitter simulation.
R: 4x 10000 10000 10000 0 R: 4x 10000 10000 10000 0
# mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 5000 5000 0 -10000 10000
# mixer for the pusher/puller throttle # mixer for the pusher/puller throttle
M: 1 M: 1
O: 10000 10000 0 -10000 10000 O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000 S: 1 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: 7c979a59ac...b35852694c