From 5fb6c75a2a38b628c867f234518fda56de56b05c Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 13 Jan 2016 10:21:08 +0100 Subject: [PATCH] added mixer for standard quad vtol plane in SITL gazebo --- .../mixers/standard_vtol_sitl.main.mix | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix diff --git a/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix b/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix new file mode 100644 index 0000000000..ffa5a024bc --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix @@ -0,0 +1,24 @@ +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. +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 + +# 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 +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 3 0 20000 -10000 -10000 10000