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42 lines
1.0 KiB
Plaintext
42 lines
1.0 KiB
Plaintext
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 4 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 4 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 4 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 4 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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