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Iris: set mixer to quad_wide

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The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover.
quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally.
Flight logs on IRIS with deadcat mixer showed that
- all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values)
- a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
This commit is contained in:
Julien Lecoeur
2018-01-16 10:09:16 +01:00
committed by Lorenz Meier
parent b184b61457
commit 0e65753568
13 changed files with 13 additions and 13 deletions
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2
posix-configs/SITL/init/ekf2/iris_irlock
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@@ -62,7 +62,7 @@ ekf2 start
landing_target_estimator start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556