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ROMFS sitl: added a mixer for the gazebo quad tiltrotor model

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-02-22 11:30:38 +01:00
committed by Daniel Agar
parent 3ef6bc7d93
commit 86c472d8ff
1 changed files with 41 additions and 0 deletions
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ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
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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