From 413233341edf3630fbf00567734e13d72c87a2e0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 11 Jun 2016 17:25:27 +0200 Subject: [PATCH] Update SITL Gazebo model --- .../mixers/standard_vtol_sitl.main.mix | 30 ++++++++++--------- Tools/sitl_gazebo | 2 +- 2 files changed, 17 insertions(+), 15 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix b/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix index ffa5a024bc..6e84c2814b 100644 --- a/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix +++ b/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix @@ -1,24 +1,26 @@ 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 diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo index 7c979a59ac..b35852694c 160000 --- a/Tools/sitl_gazebo +++ b/Tools/sitl_gazebo @@ -1 +1 @@ -Subproject commit 7c979a59ac3cbd4bcaf8848d99ca3c55db6bbf32 +Subproject commit b35852694cb0157a136f8decfd8fecfe4f15ee03