tiltrotor_sitl.main.mix
1.01 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
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
# 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