I found this text in rover_steering_control\main.cpp. I have been unable to provide a custom mixer combination that allows for the full -1…+1 range for the throttle, so I believe the below text to be a true statement and that the issue is “deeper” than just providing a custom mixer. How / where would I go to provide the full range to the throttle?
/*
- The PX4 architecture provides a mixer outside of the controller.
- The mixer is fed with a default vector of actuator controls, representing
- moments applied to the vehicle frame. This vector
- is structured as:
- Control Group 0 (attitude):
- 0 - roll (-1…+1)
- 1 - pitch (-1…+1)
- 2 - yaw (-1…+1)
- 3 - thrust ( 0…+1)
- 4 - flaps (-1…+1)
- …
- Control Group 1 (payloads / special):
- …
*/