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added mixer for standard quad vtol plane in SITL gazebo

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This commit is contained in:
tumbili
2016-01-13 10:21:08 +01:00
committed by Lorenz Meier
parent f2e7d5ca77
commit 5fb6c75a2a
1 changed files with 24 additions and 0 deletions
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ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
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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