Enable control allocation

Use previous mixer
Add plane_sitl mixer
2026-05-26 04:57:35 +08:00 · 2022-05-25 10:22:00 +02:00 · 2022-05-24 14:57:51 +02:00 · 2022-05-24 13:56:21 +02:00 · 2022-05-24 11:19:09 +02:00
4 changed files with 46 additions and 2 deletions
@@ -38,7 +38,7 @@ param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1
-
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	octo_+.main.mix
 	octo_x.main.mix
 	pass.aux.mix
+	plane_sitl.main.mix
 	quad_dc.main.mix
 	quad_h.main.mix
 	quad_+.main.mix
@@ -0,0 +1,43 @@
+Mixer for SITL plane
+=========================================================
+
+Z:
+
+Z:
+
+# mixer for the rudder
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 2   10000   10000    0 -10000  10000
+
+# mixer for the flaps
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 4   10000   10000    0 -10000  10000
+
+# mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# mixer for the left aileron
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0  -10000  -10000    0 -10000  10000
+S: 0 5   10000   10000    0 -10000  10000
+
+# mixer for the right aileron
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 0 0  10000  10000    0 -10000  10000
+S: 0 5  10000  10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 1   10000   10000    0 -10000  10000
+
+# mixer for the flaps
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 4   10000   10000    0 -10000  10000
Author	SHA1	Message	Date
Jaeyoung Lim	ca93b7e444	Enable control allocation	2022-05-25 10:22:00 +02:00
Jaeyoung Lim	3cb8cad16f	Use previous mixer	2022-05-24 14:57:51 +02:00
Jaeyoung Lim	b510161c28	Add plane_sitl mixer F F	2022-05-24 13:56:21 +02:00
Jaeyoung Lim	6c0931d961	Add plane hitl model	2022-05-24 11:19:09 +02:00