Quadrotor X mixer for PX4FMU ============================ This file defines mixers suitable for controlling a quadrotor in the X arrangement using PX4FMU. The configuration assumes the motors are connected starting with the front-right motor on output 0 and proceeding clockwise. Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 (roll), 1 (pitch), 2 (yaw) and 3 (thrust). See the README for more information on the scaler format. Scale values here will definitely need tuning. Front right ----------- M: 4 S: 0 0 10000 10000 0 -10000 10000 S: 0 0 1000 1000 0 -10000 10000 S: 0 1 1000 1000 0 -10000 10000 S: 0 2 1000 1000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 Back right ---------- M: 4 S: 0 0 10000 10000 0 -10000 10000 S: 0 0 1000 1000 0 -10000 10000 S: 0 1 -1000 -1000 0 -10000 10000 S: 0 2 -1000 -1000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 Back left --------- M: 4 S: 0 0 10000 10000 0 -10000 10000 S: 0 0 -1000 -1000 0 -10000 10000 S: 0 1 -1000 -1000 0 -10000 10000 S: 0 2 1000 1000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 Front left ---------- M: 4 S: 0 0 10000 10000 0 -10000 10000 S: 0 0 -1000 -1000 0 -10000 10000 S: 0 1 1000 1000 0 -10000 10000 S: 0 2 -1000 -1000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000