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FlightGear simulator support (#14539)
- Add flightgear_bridge submodule. - Add traget px4_sitl_nolockstep with disabled LOCKSTEP simulation. - Add flightgear viewer targets and startup scripts - Add a few possible vehicles plane (rascal), autogyro (tf-g1), and rover (tf-r1)) Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
This commit is contained in:
Jakub Kákona
co-authored by
Vit Hanousek
Vit Hanousek
parent
5ffe88672e
commit
dfa5ca1710
@@ -0,0 +1,58 @@
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#!/bin/sh
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#
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# @name Plane SITL
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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#param set EKF2_MAG_ACCLIM 0
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#param set EKF2_MAG_YAWLIM 0
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param set FW_LND_AIRSPD_SC 1.1
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param set FW_LND_ANG 5
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param set FW_THR_LND_MAX 0
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param set FW_LND_HHDIST 30
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param set FW_LND_FL_PMIN 9.5
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param set FW_LND_FL_PMAX 20
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param set FW_LND_FLALT 5
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param set FW_LND_TLALT 15
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param set FW_L1_PERIOD 25
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param set FW_P_TC 0.4
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param set FW_PR_FF 0.40
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param set FW_PR_I 0.05
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param set FW_PR_P 0.05
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param set FW_R_TC 0.45
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param set FW_RR_FF 0.40
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param set FW_RR_I 0.132
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param set FW_RR_P 0.085
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param set FW_W_EN 1
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param set MIS_LTRMIN_ALT 30
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param set MIS_TAKEOFF_ALT 20
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param set MIS_DIST_1WP 2500
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param set MIS_DIST_WPS 10000
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param set NAV_ACC_RAD 15
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 50
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param set RWTO_TKOFF 1
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#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_MAX_PITCH 20
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param set RWTO_MAX_ROLL 10
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#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_PSP 8
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param set RWTO_AIRSPD_SCL 1.8
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fi
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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#!/bin/sh
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#
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# @name Plane SITL
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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#param set EKF2_MAG_ACCLIM 0
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#param set EKF2_MAG_YAWLIM 0
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param set FW_LND_AIRSPD_SC 1.1
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param set FW_LND_ANG 5
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param set FW_THR_LND_MAX 0
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param set FW_LND_HHDIST 30
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param set FW_LND_FL_PMIN 9.5
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param set FW_LND_FL_PMAX 20
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param set FW_LND_FLALT 5
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param set FW_LND_TLALT 15
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param set FW_L1_PERIOD 25
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param set FW_P_TC 0.4
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param set FW_PR_FF 0.40
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param set FW_PR_I 0.05
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param set FW_PR_P 0.05
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param set FW_R_TC 0.45
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param set FW_RR_FF 0.40
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param set FW_RR_I 0.132
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param set FW_RR_P 0.085
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param set FW_W_EN 1
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param set MIS_LTRMIN_ALT 30
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param set MIS_TAKEOFF_ALT 20
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param set MIS_DIST_1WP 2500
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param set MIS_DIST_WPS 10000
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param set NAV_ACC_RAD 15
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 50
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param set RWTO_TKOFF 1
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#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_MAX_PITCH 20
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param set RWTO_MAX_ROLL 10
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#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_PSP 8
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param set RWTO_AIRSPD_SCL 1.8
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fi
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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@@ -0,0 +1,43 @@
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#!/bin/sh
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#
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# @name ThunderFly TF-R1 UAV Rover
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# @type Rover
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# @class Rover
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#
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# @url https://github.com/ThunderFly-aerospace/TF-R1/
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# @maintainer ThunderFly s.r.o.
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#
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sh /etc/init.d/rc.rover_defaults
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if [ $AUTOCNF = yes ]
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then
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param set GND_L1_DIST 5
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param set GND_SP_CTRL_MODE 1
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param set GND_SPEED_D 3
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param set GND_SPEED_I 0.001
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param set GND_SPEED_IMAX 0.125
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param set GND_SPEED_P 0.25
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param set GND_SPEED_THR_SC 1
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param set GND_SPEED_TRIM 15
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param set GND_SPEED_MAX 25
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param set GND_THR_CRUISE 0.3
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param set GND_THR_IDLE 0
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param set GND_THR_MAX 0.5
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param set GND_THR_MIN 0
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param set MIS_LTRMIN_ALT 0.01
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param set MIS_TAKEOFF_ALT 0.01
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param set NAV_ACC_RAD 0.5
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param set NAV_LOITER_RAD 2
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param set CBRK_AIRSPD_CHK 162128
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param set GND_MAX_ANG 0.6
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param set GND_WHEEL_BASE 3.0
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fi
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set MAV_TYPE 10
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set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
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@@ -0,0 +1,64 @@
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#!/bin/sh
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#
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# @name ThunderFly TF-G1
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# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
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#
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# @type Autogyro
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# @class Autogyro
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#
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# @url https://github.com/ThunderFly-aerospace/TF-G1/
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#
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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param set ASPD_STALL 10.0
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param set FW_P_RMAX_NEG 20.0
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param set FW_P_RMAX_POS 60.0
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param set FW_W_RMAX 10
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param set FW_W_EN 1
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param set FW_PR_IMAX 0.4
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param set FW_R_TC 0.4
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param set FW_RR_FF 0.5
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param set FW_RR_I 0.1
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.08
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param set MIS_LTRMIN_ALT 50
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param set MIS_TAKEOFF_ALT 3
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param set NAV_ACC_RAD 20
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 100
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param set RWTO_TKOFF 1
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param set MAV_BROADCAST 1
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param set FW_ARSP_SCALE_EN 0
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param set FW_AIRSPD_MAX 35
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param set FW_AIRSPD_MIN 7
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param set FW_AIRSPD_TRIM 15
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param set FW_P_LIM_MAX 25
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param set FW_P_LIM_MIN -5
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param set FW_R_LIM 30
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param set FW_MAN_P_MAX 30.0
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param set FW_MAN_R_MAX 30.0
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param set FW_THR_CRUISE 0.8
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param set FW_THR_IDLE 0
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param set COM_DISARM_PRFLT 0
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fi
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set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
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set MIXER custom
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@@ -0,0 +1,37 @@
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Mixer for SITL autogyro.
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=========================================================
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# 0 mixer for the rudder (Rotor roll)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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# 1 mixer for the pusher/puller throttle
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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# 2 mixer for the aileron
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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# 3 mixer for the elevator (Rotor pitch)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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# 4 mixer for the prerotator AUX1
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 5 10000 10000 0 -10000 10000
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# 5 mixer for the manual elevator AUX2
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 6 10000 10000 0 -10000 10000
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# 6 mixer for the release device AUX3
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 7 10000 10000 0 -10000 10000
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