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dayjaby/babyshark.main.mix

Created October 2, 2019 13:13
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babyshark.main.mix
# BabyShark VTOL mixer for PX4FMU
# 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right
# 5-8 (main): quad motors
#=============================
Quad motors 1 - 4
-----------------
R: 4x 10000 10000 10000 0
Aileron mixer (roll)
---------------------------------
M: 1
S: 1 0 -10000 -10000 0 -10000 10000
A-tail mixer right
------------------
M: 2
S: 1 2 -7000 -7000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
Motor speed mixer
-----------------
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
S: 1 3 0 20000 -10000 -10000 10000
A-tail mixer left
-----------------
M: 2
S: 1 2 -7000 -7000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
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