From 86c472d8ff2956a48e88eaa9edfd7c3cfd275376 Mon Sep 17 00:00:00 2001 From: Roman Date: Thu, 22 Feb 2018 11:30:38 +0100 Subject: [PATCH] ROMFS sitl: added a mixer for the gazebo quad tiltrotor model Signed-off-by: Roman --- ROMFS/sitl/mixers/tiltrotor_sitl.main.mix | 41 +++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix diff --git a/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix b/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix new file mode 100644 index 0000000000..94cb0f4ba6 --- /dev/null +++ b/ROMFS/sitl/mixers/tiltrotor_sitl.main.mix @@ -0,0 +1,41 @@ +Mixer for quad tiltrotor (x motor configuration) +================================================ + +This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator. + +R: 4x 10000 10000 10000 0 + +# tilt servo motor 1 +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 4 0 20000 -10000 -10000 10000 + +# tilt servo motor 2 +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 4 0 20000 -10000 -10000 10000 + +# tilt servo motor 3 +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 4 0 20000 -10000 -10000 10000 + +# tilt servo motor 4 +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 4 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