Sorry in advance, but I really have struggle to understand how the mixing is handled by the pixhawk midleware.
I’ve read the dev guide on mixing, but I still don’t understand what is written there. I don’t see how a simple file like this where there is only definition can convert attitude value like roll pitch and yaw into pwm value to motors… Maybe I am just dumb
There is mutliple cpp file that are related to mixing “fmu.cpp” “mixer.cpp” etc… and I don’t see the link between mixing file quad_x.main and high level cpp file.
Can someone explain me simply the work-flow from publishing value into actuator_control topic like roll, pitch yaw and throttle and at the end sending to ioctl() function the pwm value to motors.
Is there any matematical expression like:
it should be trigonometric relation right ?
Thank in advance,