Hi,
I am trying to get my Mixer for my simulation work. The problem is that for the pitch, the mixer does not give me the right outputs. For example, I gave to actuator_controls.control[1] = 1.0f (pitch). The pwm_out_sim gives me then back for my four output channels:
1700 1700 1300 1300
but with my Mixer it should be
1300 1300 1700 1700
Does anyone know how I can fix this or what I do wrong?
Here is the Mixer which I use:
CW 1
----
M: 4
O: 4000 4000 0 -4000 4000
S: 0 0 -10000 -10000 0 -10000 10000 //Roll Channel 0
S: 0 1 -10000 -10000 0 -10000 10000 //Pitch Channel 1
S: 0 2 +10000 +10000 0 -10000 10000 //Yaw Channel 2
S: 0 3 +10000 +10000 0 -10000 10000 //Thrust Channel 3
CCW 2
----
M: 4
O: 4000 4000 0 -4000 4000
S: 0 0 +10000 +10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
CW 3
----
M: 4
O: 4000 4000 0 -4000 4000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 +10000 +10000 0 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000
CCW 4
----
M: 4
O: 4000 4000 0 -4000 4000
S: 0 0 +10000 +10000 0 -10000 10000
S: 0 1 +10000 +10000 0 -10000 10000
S: 0 2 +10000 +10000 0 -10000 10000
S: 0 3 +10000 +10000 0 -10000 10000