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ROMFS: added mixer for tailsitter simulation

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- simulated tailsitter needs a virtual elevator since we cannot simulate
elevons yet (liftDrag plugin does not model longitudinal moment Cm)

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-02-13 12:45:41 +01:00
committed by Daniel Agar
parent d63a8033d0
commit 8ec1fb9999
2 changed files with 22 additions and 1 deletions
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21
ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix Normal file
View File

@@ -0,0 +1,21 @@
Mixer for the gazebo tailsitter model
=====================================
R: 4x 10000 10000 10000 0
Z:
# left elevon
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# right elevon
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the virtual elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000

2
posix-configs/SITL/init/ekf2/tailsitter
View File

@@ -60,7 +60,7 @@ mc_pos_control start
mc_att_control start mc_att_control start
fw_pos_control_l1 start fw_pos_control_l1 start
fw_att_control start fw_att_control start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
mavlink start -x -u 14556 -r 2000000 mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556