fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-07 03:11:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

added mixer for standard quad vtol plane in SITL gazebo

Browse Source
This commit is contained in:
tumbili
2016-01-14 16:07:01 +01:00
committed by Lorenz Meier
parent f2e7d5ca77
commit 5fb6c75a2a
1 changed files with 24 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
+24
View File
@@ -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