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41 lines
1.0 KiB
41 lines
1.0 KiB
Mixer for quad tiltrotor (x motor configuration) |
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This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator. |
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R: 4x |
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# tilt servo motor 1 |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 8 0 20000 -10000 -10000 10000 |
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# tilt servo motor 2 |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 8 0 20000 -10000 -10000 10000 |
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# tilt servo motor 3 |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 8 0 20000 -10000 -10000 10000 |
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# tilt servo motor 4 |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 8 0 20000 -10000 -10000 10000 |
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# mixer for the left aileron |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 0 -10000 -10000 0 -10000 10000 |
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# mixer for the right aileron |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 0 10000 10000 0 -10000 10000 |
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# mixer for the elevator |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 1 10000 10000 0 -10000 10000
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