Configuring mixer file for differential drive rover

Hey, Newbie here.
I’m working on making a differential drive (tank drive) rover and control it using both MavSDK and radio in different modes. I’ve got some idea about control groups and actuators from the documentation and decided to go forward with making a custom mixer file. I’ve looked into some rover mixer files (Aion robotics R1 and NXPCup GPX) but failed to fully understand the parameters. Is there some documentation regarding those parameters so that I don’t make a huge mess.

Thanks :slight_smile:

Adding some links I went through:
Mixing and actuators
Radio calibration
Auxillary Function assignment

@dagar I’ve read tons of answers from you and I really look up to you. You have great knowledge of the topic, so if you can please help/guide me here.