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Update SITL Gazebo model

This commit is contained in:
Lorenz Meier 2016-06-11 17:25:27 +02:00
parent afa9467dad
commit 413233341e
2 changed files with 17 additions and 15 deletions
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30
ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
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Mixer for standard vtol plane (SITL) with motor x configuration
=========================================================
This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
in order to make the standard vtol simulation compatible with the tailsitter simulation.
This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
R: 4x 10000 10000 10000 0
# mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 5000 5000 0 -10000 10000
# mixer for the pusher/puller throttle
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000

2
Tools/sitl_gazebo

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Subproject commit 7c979a59ac3cbd4bcaf8848d99ca3c55db6bbf32
Subproject commit b35852694cb0157a136f8decfd8fecfe4f15ee03